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Kinovarobotics / ros2_kortex

ROS2 driver for the Gen3 Kinova robot arm
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Gen 3 Lite MoveIt Limp Gripper #245

Closed htchr closed 2 weeks ago

htchr commented 1 month ago

Hello,

I'm trying to control the gripper using the included MoveIt configuration for the gen3 lite robot arm. However, it seems that only one side can be controlled, and the other side hangs limp (see screenshot). Therefore it cannot actually grip anything in simulation; the object always falls away. Is there anything I can do to fix this issue? Also, is there anyway to control the marker from the arm and not the "finger"?

Thank you,

Screenshot from 2024-10-16 14-59-10

ssapsu commented 1 month ago

hi

i think the problem is it's because symmetric one side is clockwise and the other size is anti clockwise

ssapsu commented 1 month ago

like mirror

ssapsu commented 1 month ago

I had kind of that problem in isaac sim too

htchr commented 1 month ago

Hello @ssapsu were you able to fix the issue? I'm using the default Gazebo and MoveIt configurations.

ssapsu commented 1 month ago

I think it's because of limitation of implement specific joint like in your case and my case which was robotiq 2f 85.

Becasue it opens and closes symmetric with single motor but i'm afraid they implemented separately

In my case i filtered ros2 topic to only hear left side and i gave a command on the left side

Maybe you can change your gripper's config file so you can correct right

aalmrad commented 2 weeks ago

Hello @htchr ,

The issue has been recently fixed after merging the following PR