grasping objects in Gazebo [closed]
I'm working on using a non-PR2 robot to grasp objects in Gazebo. I've looked through the gazebo_ros_grasp_hack plugin but noticed it's PR2 specific. The adding virtual objects to the robot tutorial seems to only work in RVIZ. And the pick and place and tabletop manipulation seem to require planning scenes and collision maps. While the pick and place and tabletop will be useful to me later down the road in doing autonomous grasping, right now I just want to grasp an object in Gazebo regardless of using a planning scene or collision map.
What I really want is to be able to temporarily attach the ball to one of our robot's fingers if it is in the hand. Basically what is happening now is I can't seem to hold onto a ball that I'm picking up in Gazebo because the ball tends to fall out. We haven't had this same problem on our physical robot grasping a ball, if it squeezes the ball it will stay in our grasp.
So what I'm after seems to be the ball becoming a fixed object to the finger(s) almost by a fixed joint and will also become a free rolling ball again once our hand lets go of the ball.
Does anyone know of a way to do this? Would I be able to simply modify the gazebo_ros_grasp_hack plugin to be modeled after our robot's hand instead of the PR2 hand? Am I missing something within ROS?
are you using fuerte? you could just do a simple world plug-in to attach the ball to the fingers based on relative positions of the two, then detach it in the same manner?