EuRoC Forum

[joma]

Just to finally clear up this issue. Grasp forces above 20N are not allowed and can lead to a not working gripper hack? If grasping an object with more than 20N it is not guaranteed that the object does not fly away from the gripper tips?

[Peter Lehner]

Grasp forces above 20N are not allowed and can lead to a not working gripper hack? If grasping an object with more than 20N it is not guaranteed that the object does not fly away from the gripper tips?

Using forces between 10N and 20N is our recommendation. As this problem is inherent to physical simulations there is no guarantee that the object remains in the gripper, although we took precautions that grasping will consistently work under realistic conditions by introducing the gripper hack. If you can reproduce your problems at the recommended conditions (10 - 20N, min 0.5s) we will gladly try to help based on a logfile of the situation.

Best,
Peter