Tactile sensing using OBJ model #3
Description
Hello, I have tested the primitive bodies like sphere, cuboid and cylinder using your method, which performs well. However, when I using my own OBJ models, I find the penetrotion issue occurs as the figure shows and there is no marker displacement. The following codes are some my changes in tactile_pad.xml. So, how can I do to tackle this issue?
<robot>
<link name="object">
<joint name="object_joint" type="fixed" pos="0. 0. 0.02" quat="1 0 0 0"/>
<body name="object" type="mesh" filename="sphere.obj" scale="0.003 0.003 0.003" pos="0 0 0" quat="1 0 0 0" rgba="0.7 0.7 0.7 1"/>
</link>
</robot>
<contact>
<ground_contact body="object" kn="5e3" kt="1" mu="0.8" damping="0.03"/>
<general_primitive_contact general_body="object" primitive_body="pad_body"/>
</contact>
