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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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movit.rviz Gripper closed Position #5

Open jhaardt opened 4 years ago

jhaardt commented 4 years ago

It's not possible to close the real Gripper via movit.rviz motionplanning. Since the preset "closed" position is 0.83 and the joints are limited to 0.775. The closed should be lowered or the limits raised. [I use custom tips, for my project, so I don't use this values and have no preferred solution]

icl_ur5_setup_moveit_config/config/ur5_gripper.srdf

<group_state name="closed" group="gripper">
        <joint name="finger_joint" value="0.83" />
</group_state>

icl_ur5_setup_description/urdf/robotiq_arg2f_140_model_macro.xacro

<xacro:macro name="finger_joint" params="prefix">
...
      <limit lower="0" upper="0.775" velocity="2.0" effort="1000" /> 
...
  </xacro:macro>

Terminal Error:

wrs_moveit_planning_execution.launch

[ WARN] [1574343418.319240996]: More than 80% of the sampled goal states fail to satisfy the constraints imposed on the goal sampler. Is the constrained sampler working correctly? [ INFO] [1574343418.320839063]: Constraint satisfied:: Joint name: 'finger_joint', actual value: 0.775000, desired value: 0.775000, tolerance_above: 0.000100, tolerance_below: 0.000000 [ INFO] [1574343418.320903032]: Constraint violated:: Joint name: 'left_inner_finger_joint', actual value: 0.775000, desired value: 0.830000, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1574343418.321012762]: Constraint violated:: Joint name: 'left_inner_knuckle_joint', actual value: -0.775000, desired value: -0.830000, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1574343418.321084873]: Constraint violated:: Joint name: 'right_inner_knuckle_joint', actual value: -0.775000, desired value: -0.830000, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1574343418.321133266]: Constraint violated:: Joint name: 'right_outer_knuckle_joint', actual value: -0.775000, desired value: -0.830000, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1574343418.321175634]: Constraint violated:: Joint name: 'right_inner_finger_joint', actual value: 0.775000, desired value: 0.830000, tolerance_above: 0.000100, tolerance_below: 0.000100