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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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How to make gripper close completely? #6

Closed rcao-hk closed 4 years ago

rcao-hk commented 4 years ago

Hi,

Thanks for your working on the robot model. I noticed the 140 gripper cannot close completely in gazebo simulation. How I can make it close completely? I check the urdf but don't know the solution yet. Could you give me some clues about it? By the way, could you info me the gazebo version you used here? Thank you.

Regards Rui Cao

jhaardt commented 4 years ago

It has to do with the limits of the finger_joint, in the robotiq_arg2f_140_model_macro.xacro line 169: <limit lower="0" upper="0.775" velocity="2.0" effort="1000" /> increase the upper to close it further.

My gazebo is Version 7.0.0. (ros kinetic)

rcao-hk commented 4 years ago

Hi,

I changed the upper limitation for it and the model is broken then. I think it is due to the improper limitation value of other links. I am trying to solve it.

Regards.

rcao-hk commented 4 years ago

It has to do with the limits of the finger_joint, in the robotiq_arg2f_140_model_macro.xacro line 169: <limit lower="0" upper="0.775" velocity="2.0" effort="1000" /> increase the upper to close it further.

My gazebo is Version 7.0.0. (ros kinetic)

Hi, I solved the problem by following the below pull in official repo of Robotiq (https://github.com/ros-industrial/robotiq/pull/157/commits/74f4423b739280007ad1364073d1c680ca79fd40). Thanks for your clue.

Regards! Rui Cao