iCub simulator is built on Open Dynamics Engine (ODE) and OpenGL. We found out, that in the simulator, all objects have very small weight and we cannot set the weight or density of the objects. While in our work we expect iCub to grasp objects with different weights, we need to overcome this problem.

Since now, I found that while object is created, density is set by iCub Simulator constant DENSITY (world.h), which is set to 1.0.

I hope it might work, if I modify world.cpp methods which are responsible for object creation to get density as input parameter.

I also have to check out this post.

 

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