Simple peg-in-hole model

[JeanElsner]

I've seen some discussion surrounding this topic and therefore I'd like to share with you this simple peg-in-hole model we created. I tried using V-HACD to create the convex decomposition but couldn't get it to work (the peg wouldn't fit), therefore I created the collision meshes by hand (Blender file included). We also printed the pieces (they fit into the Panda grippers) and evaluated the model with hardware-in-the-loop. Maybe some of you can figure out how to produce the decomposition automatically, the manual modeling is a bit of a hassle (and this is a very simple model).

Video
Video with robot hardware

[yuvaltassa]

Very nice!

As mentioned in a different issue, this is a fairly new package that seems to be significantly better than V-HACD.

[kevinzakka]

cc @carlosferrazza

[hai-h-nguyen]

Hi @JeanElsner, thanks for your model. It looks nice. Could you give me some instructions for doing that w/ a round peg in Blender? Thank you.

[NadeenElh]

Hello, @JeanElsner. Is the code for the model available anywhere?