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How to store "stretching" forces from the PR2 using Gazebo?


I am still fairly new using Gazebo, and this time I am trying to simulate the PR2 robot interacting with cloth. I need to obtain, and specially store, the forces the PR2 robot is applying when manipulating the cloth meshes. For example, after the PR2 grasps a rectangular piece of cloth from 2 adjacent edges, I need to store the forces required to stretch the cloth in all possible directions. How can I do this?

Thanks for any kind of help in advance.