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bdaiinstitute / spot_wrapper

Wrapper for Boston Dynamics Spot SDK
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`gripper_angle_open` sets incorrect angle #110

Closed taDachs closed 6 months ago

taDachs commented 6 months ago

when using gripper_angle_open as defined in spot_arm.py the angle of the gripper appears to be incorrect. Here are two images where I tried setting the angle to 90 degrees. In the first image i used gripper_angle_open, in the second one i used the gripper_open_fraction_command.

image

image

For the fraction command, the angle looks correct (used a fraction f 1.0), while for the angle the gripper has a smaller angle than it should have. When using the 'open_gripper' command, the angle is the same as using the fraction command. Same occurs when using 45 degrees. The angle command also sometimes results in jittering, but I don't know if that is related.

Where do the limits used on line 422 come from? I couldn't find them in the urdf files.

taDachs commented 6 months ago

I also opened a PR with a hotfix: #111