Problem with the torus collision model #5691
Description
Hi everyone, I created this scene where I control the grippers with two Geomagic devices. The goal of the task is to grasp the elastic band with the two grippers and place it into specific configurations shown at the beginning of the task.
My problem is that when I stretch the elastic too much, it manages to pass through the pegs. By adjusting some parameters — such as the number of spheres in the collision model of the torus, the radius of these spheres, the Rayleigh stiffness and Rayleigh mass of the torus, the Young’s modulus, dt, maxIt, contactDistance, and alarmDistance — the behavior has improved a bit. However, when trying to reach more complex configurations that require further stretching of the elastic, the issue still persists.
I also tried using a CapsuleCollisionModel in addition to the SphereCollisionModel. This avoids the “holes” in the collision model of the elastic when it is stretched, but the band still manages to pass through the pegs and sometimes gets stuck.
One of the main problems is not only how much I stretch the elastic, but also how fast I move the grippers once the elastic has been grasped.
How could I solve this problem? Thank you @hugtalbot @damienmarchal
