Physics during simulation

[Zickwolf]

Hello,

i am currently trying to implement a simulation with an Omniplatform and two IRB140 where I want wo mimic a transport and sorting of different boxes. As I am quite new to CoppeliaSIM, I am having some trouble regarding the physics of my simulation. At first i tried to implement a gripper (BaxterVacuumCup) to link my boxes to my robot. I saw a post on the forum, where it was mentioned, that there might be problems with the proximity sensor in the script so i checked that. In my simulation I was able to get my object as a child object of my gripper, but unfortunately, as my movement started, the gripper did not hold on onto the box, and it flew away. So i deactivated the dynamic and collidability of my boxes, but currently I am having another problem. The boxes get unloaded form the OmniPlatform using a second robot. It sorts the boxes onto a conveyor belt. Unfortunately, as i put the boxes onto the conveyor belt, they do not move. I tried several different approaches (adding force onto the object, disabling the statics, adding a mass and inertia) But nothing seems to work. Am i missing something? I am using Bullet 2.78 as the physics engine.

Thanks in advance.

If there are things unclear, feel free to ask.

Kind regards.

[coppelia]

Can you post a minimalistic, self-contained scene that illustrates each of the problems you mention? From your explanation, you could be doing many many things wrong, and mentioning all possible pitfalls would take ages.

Make sure that your box is dynamically enabled (i.e. is not static) and that you do not collide with the box before attached it via the loop closure to the end-effector.

If you just need to pick up a box, then you can simply attach it via a force sensor to the end-effector with sim.setObjectParent, and detach it via the same command.

Always inspect the scene with the Visualize and verify dynamic content toolbar button when something related to dynamics is not properly working.

Cheers

[Zickwolf]

Hello CoppeliaSim,

sorry for my late reply, in the mean time i was able to solve the issue with the gripper. But I am afraid there is another issue with the gripper I attached. I attached the simulation link below. My issue is that my first robot has to pick up a box and place it onto an AGV with an angle of around 90°, which works fine, the movement looks kind of weird but it works. My second robot has to pick up the box and place in onto a conveyor. However, whenever my gripper is ready to pick up the object (via dummy linkage) the coordinate system changes entirely and I do not understand why. Maybe you can understand why it changes the coordinate system?

https://drive.google.com/file/d/12Hm5ED ... drive_link

Thank you in advance

[Zickwolf]

Hello,

have you gotten a chance to look at the simulation?

Thanks in advance