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ZebraDevs / robot_controllers

Robot control infrastructure
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Consider equal forces for gripper jaws #1

Closed mikeferguson closed 9 years ago

mikeferguson commented 9 years ago

The parallel jaw gripper plugin is currently position-based. It tends to slide off to one side or the other when grasping. We should try running a single PID loop in the controller and setting the joint efforts directly (and to equal values).

mehwang commented 9 years ago

Is there a launch file for the gripper simulation that I can run to test changes? Aaron pointed me to the files

mikeferguson commented 9 years ago

https://github.com/fetchrobotics/robot_controllers/commit/084a2e7037f1fe04463669976d50accc4e8764a9