This PR changes the joint positions of the JVRC1 gripper to be suitable for manipulation. In particular, it is required for CI testing of isri-aist/LocomanipController. As you can see from the following videos, the original JVRC1 gripper is too narrow to realize most grasping tasks.
This PR changes the joint positions of the JVRC1 gripper to be suitable for manipulation. In particular, it is required for CI testing of isri-aist/LocomanipController. As you can see from the following videos, the original JVRC1 gripper is too narrow to realize most grasping tasks.
Original gripper
https://user-images.githubusercontent.com/6636600/207749561-1c98d5fe-7aad-4660-9d8e-591be754e1b2.mp4
Updated gripper
https://user-images.githubusercontent.com/6636600/207749596-09af4fe0-4802-4c7b-bc1a-a87aabd59c0d.mp4
Grasping by the updated gripper
https://user-images.githubusercontent.com/6636600/207749651-5b6a6b6c-4e18-434b-a443-bbe0df579ebd.mp4
It was confirmed that the grasped object can be pulled as well as pushed.
Grasping by the original gripper (with extended joint limits)
Since no closure is formed, the grasped object can be pushed but not pulled.