Schunk WSG 50 - Githubissues

graspit-simulator / graspit

The GraspIt! simulator

http://graspit-simulator.github.io/

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Schunk WSG 50 #155

Closed mattcorsaro1 closed 5 years ago

mattcorsaro1 commented 5 years ago

Hi,

I'd like to use the Schunk WSG 50 hand. I generated a GraspIt model from wsg50-ros-pkg's xacro using urdf2graspit. The model is in my fork here. When I run the openclose plugin with it, nothing happens and I get this error:

Robot joint interpolation error Interpolation failed!

Any idea what the problem could be? A discussion about the EigenGrasp file is here.

Thank you! Matt

majiqiang commented 5 years ago

Can GRASPIT also use urdf files? how do you do it? my gripper is similar to robotiq, i'm very confused now!

mattcorsaro1 commented 5 years ago

You'll need to convert your URDF to a GraspIt robot model using urdf2graspit

majiqiang commented 5 years ago

You'll need to convert your URDF to a GraspIt robot model using urdf2graspit OK，thank you very much .What's more, how do you get urdf model? i just know a tool , SolidWorks plugin, maybe convert stl or other 3D model to urdf. I don't know if it's right, so i want to ask for your help.

mattcorsaro1 commented 5 years ago

Yeah, if you have an stl file, you should be able to generate a URDF with this plugin.

majiqiang commented 5 years ago

Yeah, if you have an stl file, you should be able to generate a URDF with this plugin.

yeah！ i know this plugin, but i am confused that how to use this plugin, my gripper is complex, it has a parallelogram mechanism link, i don't know how to bulid it. Do you have a good method? dh_hand this is my gripper picture and its mesh model. AG-95 3D-model_Updated190313.zip

mattcorsaro1 commented 5 years ago

I edited the defaultVelocity and joint limits in my model and it seems to work now. I'll submit a PR once I've tested it.

majiqiang commented 5 years ago

I edited the defaultVelocity and joint limits in my model and it seems to work now. I'll submit a PR once I've tested it.

Hello，Matt！Honor to receive your reply. Recently I try to export my gripper to urdf file firstly, but i failed. It looks very irregular in RVIZ. I really don't know how to do, could you help me ? This is my mesh model with coordinate system and my generated urdf file. And maybe the coordinate is wrong, I don't know. 装配体1.zip myurdf.tar.gz

majiqiang commented 5 years ago

I edited the defaultVelocity and joint limits in my model and it seems to work now. I'll submit a PR once I've tested it.

Hello, Matt, could you help me generate urdf file or robot description files? I 'm in trouble!

majiqiang commented 5 years ago

i met same problem! how do you solve?

Robot joint interpolation error Interpolation failed!