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Interbotix / interbotix_ros_manipulators

ROS Packages for Interbotix Arms
BSD 3-Clause "New" or "Revised" License
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Wx250s controllers #198

Closed kethan637 closed 2 months ago

kethan637 commented 4 months ago

Question

For model wx250. Bot.gripper.grasp and release are rotating the pitch and roll can you say the what are commands for those wx250s arm gripper controls.

Robot Model

wx250s

Operating System

Ubuntu 22.04

ROS Version

ROS 2 Humble

Additional Info

No response

lukeschmitt-tr commented 4 months ago

In your question, you are asking about the wx250, but in the Robot Model field, you list the wx250s. The ID of the gripper motor is 8 on the wx250. ID 8 on the wx250s is the wrist_rotate joint. If you are launching the wrong robot, gripper commands will indeed rotate the wrist, causing this behavior you are seeing. Please provide the launch command you are using.

kethan637 commented 4 months ago

I need answer for wx250s only what is the command for opening and closing gripper in wx250s

kethan637 commented 4 months ago

bot.gripper.grasp()

lukeschmitt-tr commented 4 months ago

bot.gripper.grasp()

That is the correct command. However, you may be launching the wrong robot model which would cause this behavior. Make sure that the robot you have, the robot_model launch arg, and the robot_model arg you're giving to the Python API are all correct.

Please provide the control package launch command you're using. If you're running the wx250s, it should be:

ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=wx250s

If you launch it with wx250 instead, you'll see the "wrist joint as gripper joint" issue you describe.

lukeschmitt-tr commented 4 months ago

Do you have any further questions on this? Otherwise, this issue will be closed.