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ROBOTIS-GIT / open_manipulator

OpenManipulator for controlling in Gazebo and Moveit with ROS
http://emanual.robotis.com/docs/en/platform/openmanipulator/
Apache License 2.0
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Unable to lower minimum on Gripper Close past -0.10 #213

Closed sardanian closed 2 years ago

sardanian commented 3 years ago

I am trying to make the gripper close just a little bit more. It is currently set to a minimum of -0.10, but I want to close it just a bit more. I can manipulate the gripper to close a bit more, but cannot seem to find in the code what to change. I have attempted to change it in the: open_manipulator_x_teleop_keyboard.cpp file (line 239) but it stops working when it is put to anything below -0.10

I then assumed it had a minimum and tried to change it in: open_manipulator_x.cpp (line 114) but that also doesn't work.

Is there a way I can change the code so that the gripper can close a little bit more?

Thank you.

ROBOTIS-Will commented 3 years ago

@sardanian Here's the configuration of each joint of OM-X and you can find the minimum gripper value in the below. https://github.com/ROBOTIS-GIT/open_manipulator/blob/master/open_manipulator_libs/src/open_manipulator.cpp#L114

Thanks!

sardanian commented 3 years ago

Hi @ROBOTIS-Will,

I had previously tried to change that file and it would not work.

What I changed was the value from -.01 to -.02. I also changed this line to -.02 as well.

https://github.com/ROBOTIS-GIT/open_manipulator/blob/master/open_manipulator_teleop/src/open_manipulator_teleop_keyboard.cpp#L328

The arm will not close when the values of both files are below -.01

Am I missing something?

Thank you.

ROBOTIS-Will commented 3 years ago

@sardanian The gripper of OM-X is mechanically limited by its design. Make sure that there's a room for exceeding the minimum pose. I believe -0.01 is pretty close to the mechanical limit and in order to grab something thin, you should use thicker gripper pad that is included in the package. image

sardanian commented 3 years ago

Hi Will. I have more mechanical space.

This is the most my gripper will close via software.

However, this is what it can mechanically close to if I move it with my hand when turned off. So it seems it can close 5mm more, but I cannot get it to close via the software. When I change the lines of code you suggested the gripper just will not close at all. It stays stuck in the up position. So it isn’t a mechanical issue. It seems to stop and then not work/close at all.

On Mon, Jul 5, 2021 at 7:51 PM Will Son @.***> wrote:

@sardanian https://github.com/sardanian The gripper of OM-X is mechanically limited by its design. Make sure that there's a room for exceeding the minimum pose. I believe -0.01 is pretty close to the mechanical limit and in order to grab something thin, you should use thicker gripper pad that is included in the package. [image: image] https://user-images.githubusercontent.com/26239359/124530734-0d795880-de48-11eb-8a1d-9a1fb1c1f553.png

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ROBOTIS-Will commented 2 years ago

Hi @sardanian The pictures are not attached in your reply. Modifying below two lines with a value -0.014 allowed me to fully close the gripper to its mechanical minimum.