I am building a simulation of a robot gripper trying out grips in an articulated object (etc microwave, drawer etc) in pybullet. due to performance we are using a floating gripper without the robot arm. The gripper is being moved using VELOCITY_CONTROL The microwave is held in place using an additional joint holding its base to the 0,0,0 coordinate
The problem is i cant use fixedbase=True because then the gripper does not loose velocity since it doesn't interact.
- If I don't use fixed base then the gripper experiences gravity, theoretically I can still give it counter velocity however that doesn't solve the second problem
- I only want the gripper to loose velocity in the direction it is moving.
- I don't want the gripper to experience angular velocity
this is all implementable separately but it seems like a very ugly solution. and it will very likely make my simulation unrealistic. Is there any other solution?
Currently the gripper simply pushes the microwave away continuously as soon as it touches it, since it cant loose velocity
