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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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How to tune the friction coefficient of OpenMANIPULATOR's gripper #225

Closed Yoshihito-M closed 2 years ago

Yoshihito-M commented 2 years ago

Hi,everyone. I am using TurtleBot3 Waffle Pi with OpenMANIPULATOR-X. Now, I am trying the task gripping a cylinder model with the gripper of OpenMANIPULATOR-X on gazebo. however, the gripper model can not grip the cylinder model. Namely, the cylinder model slips off the surface of gripper.

I guess that the friction coefficient of the surface of gripper should be tuned, but I'm not sure what process I should do overall. I would appreciate it if you could help me tune it.

Thanks for your help.

ROBOTIS-Will commented 2 years ago

Hi @Yoshihito-M

This is more relevant to the Gazebo simulator. The following thread might help, but can't assure whether these approaches will work or not. https://answers.gazebosim.org//question/22215/friction-in-the-gripper-not-working-objects-slipping/

Thanks!

Yoshihito-M commented 2 years ago

Hi @ROBOTIS-Will

Thank you for showing the helpful thread. I fixed open_manipulator_x.gazebo.xacro as follows:

  <gazebo reference="gripper_link_sub">
  <kp>1000000.0</kp>
  <kd>100000.0</kd>
  <mu1>1000.0</mu1>
  <mu2>1000.0</mu2>
  <maxVel>0.0</maxVel>
  <minDepth>0.001</minDepth>
  <material>Gazebo/DarkGrey</material>
</gazebo>
Yoshihito-M commented 2 years ago

Hi @ROBOTIS-Will

I tried above code on Gazebo Simulator and I solved my issue! your advice is very helpful for me. Thank you again!

ROBOTIS-Will commented 2 years ago

@Yoshihito-M Thanks for the updates! I'll refer to your case when updating the xacro file in the next release.