Hello,
I want the robot to maintain stable contact even when it touches the table. The ultimate goal is to measure contact force using the force/torque sensor mounted on the wrist and maintain it stably. Currently, I am using position control by modifying the following task, and as you can see in the video, there is a bouncy motion.
I tried applying Physics Material to the table, but it didn’t significantly affect it.
Q1. Can I get examples or advice on Restitution or Compliant Contact in Physics Material?
Q2. What would be the most elegant way to adjust the contact? Would it be applying the Physics Material or adjusting the Robot PD values?
I appreciate any advice. Thanks!
