Unable to grasp needle, proximity not detected

[kschwan]

Unable to grasp needle, proximity not detected

[adnanmunawar]

Hi Kim,
Thanks for opening the issue and the nice video (it's always great to see what's going on). Can you try this:
When the simulation launches, with any of the simulator's window selected, press "s" and/or "a" to toggle the visibility of "sensors" and "actuators" respectively. The sensor is visualized as a green and red sphere. These denote the start and end of the line segment for the ray tracing proximity sensor. When the sensor detects an object in its segment, a pink sphere is show at the surface of detection. This should show us whether or not the sensor is detecting the needle, visually. Here is short video of it that I recorded.

[kschwan]

Thanks Adnan,
Sorry for my late reply. I'm currently on a temporary leave from work and haven't tried the above yet, but I will :)

[Wilboy-ai]

Hi Adnan,

(I work together with Kim)

I still experience some grasping problems. I have tried toggling on the visibility of the sensor and It looks like the sensor ray is too short to detect objects at the very tip of the gripper (I have included a video). Is this correct? I would expect the end of the sensor ray to be at the tip of the gripper.

grasping_problems.webm

I have also experienced the ray sensor extend beyond the gripper tip in cases where the suture phantom is detected. (I have included a video)

extended_ray.webm

(I have tried extending the ray length to be at the tip of the gripper which helped)

I hope you can help, thanks :)