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Does the gripper tag still work in Gazebo 7?

asked 2017-08-24 17:26:40 -0500

piyushk gravatar image

I'm trying to use the old hacky way for gripping in Gazebo 7/ROS Kinetic, as described in this thread.

I've had no success with the object attaching to the gripper. Is gazebo still supposed to attach the object to the gripper?

I've got a dual gripper configuration - the surface properties are as follows:

<gazebo reference="${name}_link">
  <mu1>1.0</mu1>
  <mu2>1.0</mu2>
  <minDepth>0.005</minDepth>
  <kp>3e2</kp>
  <kd>1</kd>
  <maxContacts>5</maxContacts>
</gazebo>

Since the gripper fingers are effort controlled, I've had to reduce the kp value considerably to have sustained stable contacts. My usage of the gripper hack looks as follows:

<gazebo>
  <gripper name="${name}_grasping">
    <grasp_check>
        <attach_steps>5</attach_steps>
        <detach_steps>10</detach_steps>
        <min_contact_count>1</min_contact_count>
    </grasp_check>
    <gripper_link>${name}_left_gripper_link</gripper_link>
    <palm_link>{name}_right_gripper_link</palm_link>
  </gripper>
</gazebo>

Any advice to get this working would be appreciated. Thanks!

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answered 2017-08-24 17:51:52 -0500

piyushk gravatar image

updated 2017-08-24 17:57:39 -0500

The answer is yes! The gripper hack works as expected in Gazebo 7/ROS Kinetic.

I messed up palm_link and didn't realize it. It should have read <palm_link>${name}_right_gripper_link</palm_link> - I forgot the $ sign, and xacro wasn't expanding it.

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Asked: 2017-08-24 17:26:40 -0500

Seen: 127 times

Last updated: Aug 24 '17