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intuitivecomputing / ur5_with_robotiq_gripper

This package enables an UR5 arm with a Robotiq 140 Gripper to be used with MoveIt!.
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Applying PID control #2

Closed Alchemist77 closed 4 years ago

Alchemist77 commented 5 years ago

Hi Yuxiang Gao and Yeping Wang,

Thank you for sharing this repo. It is very useful for working in gazebo simulation Actually, I am doing grasping an object, but without PID and mimic gazebo plugin gripper always slip or get crazy situation during grasping. Have you any experienced grasping with your repo. I tried to grasp an object, but gripper cannot grasp it. Also, I applied mimic plugin and PID in your repo.. I still have the problem of grasping task.

example applying PID gazebo_ros_control: pid_gains:

these gains are used by the gazebo_ros_control plugin

shoulder_pan_joint:
  p: 0.0
  i: 0.0
  d: 0.0
  i_clamp: 0.0
  antiwindup: false
  publish_state: true

Also, I applied roboticsgroup_gazebo_plugins with mimic joint as well.

If you have any experience or suggestion, I really appreciate it.

Thank you!

Best regards, Jaeseok

yepw commented 5 years ago

Sorry, @Alchemist77. I don't have much experience in this, but I think it would be super cool to simulate grasping in Gazebo. I remember I have seen one relevant question. Hope it is helpful. http://answers.gazebosim.org/question/14887/object-slips-out-of-gripper-gazebo-7-ur5-robotiq-3-finger/