What should I do if I want to change the RG2 gripper to ROBOTIQ_85 gripper?

[jayraj3]

In V-REP, do the following steps

1. Create gripper model in V-REP
2. Attache the gripper to UR5.
3. Add Tip and Target dummies in Inverse Kinematic mode (follow the same naming convention).

After that change open_gripper() and close_gripper() method in robot.py according to your gripper kinematics.

[Lightwingy]

@jayraj3, I have changed the gripper in V-REP. But I have no idea about how to change open_gripper() and close_gripper() method in robot.py. As a result, the grriper can only push the objects. When the grriper start to grasp the object, it will stop. Have you solved it ?

[jayraj3]

I wrote the open_gripper() and close gripper() function for robotiq85 gripper. please check it in link https://github.com/jayraj3/visual-pushing-grasping I just wrote the function in robot.py but not tested it because I do not have enough hardware. Got to Robotiq85Gripper folder and try to debug the function prototype to make it work properly.

[Lightwingy]

Thank you. I will try to test it.

[Lightwingy]

It still have some problem. The grripper will be in a terrible state as the picture below shows.

[Lightwingy]

@jayraj3, is there any API that can reset the state of the gripper? As the picture above shows, the gripper will often fall into the false state that will not appear in real environment.

[Abdul-UOiT]

@Lightwingy did you get to solve the issue ?

[Abdul-UOiT]

@jayraj3 the Robotiq gripper usually fails as @Lightwingy mentioned above. Did anyone figure it out? Thanks

[Lightwingy]

@Lightwingy did you get to solve the issue ?

No, it still have the problem.

[Abdul-UOiT]

@Lightwingy have you tried to lower the UR5_tip, and make it at the same level of the finger_tips of the Robotiq gripper. This will reduce the number of failing, the finger_tip doesn't need to bend in anymore.

[Lightwingy]

@Lightwingy have you tried to lower the UR5_tip, and make it at the same level of the finger_tips of the Robotiq gripper. This will reduce the number of failing, the finger_tip doesn't need to bend in anymore.

When I train a new model, the gripper still bend.

[Abduoit]

@Lightwingy have you tried to lower the UR5_tip, and make it at the same level of the finger_tips of the Robotiq gripper. This will reduce the number of failing, the finger_tip doesn't need to bend in anymore.

When I train a new model, the gripper still bend.

Do you mean it still bends when you use different objects to grasp.

Also, do you think it is possible to change the gripper mechanism from encompassing grip to parallel grip, this stops bending the finger_tips. See the pic below

[Lightwingy]

I tried to lower the UR5_tip. But when I run "python main.py --is_sim --push_rewards --experience_replay --explore_rate_decay --save_visualizations", the finger_tip still bend in a terrible state.

[jayraj3]

I think gripper needs to be simulated dynamically in v-rep. e.g make gripper finger dynamic. In this way, it can grasp the objects.

[Abdul-UOiT]

@jayraj3 could you please explain how to do that ?

[gsbandy24]

I wrote the open_gripper() and close gripper() function for robotiq85 gripper. please check it in link https://github.com/jayraj3/visual-pushing-grasping I just wrote the function in robot.py but not tested it because I do not have enough hardware. Got to Robotiq85Gripper folder and try to debug the function prototype to make it work properly.

Hi, I am looking for these scripts for opening and closing the robotiq gripper but the repository is no longer available. Do you still have access to these scripts?