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jsk-ros-pkg / jsk_pr2eus

PR2 euslisp packages
https://github.com/jsk-ros-pkg/jsk_pr2eus
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[pr2eus] add gain key in :stop-grasp #415

Closed knorth55 closed 4 years ago

knorth55 commented 5 years ago

We need to change gain also for :stop-grasp. This is because we introduce Gecko tape on PR2 finger tip.

pazeshun commented 5 years ago

What happens when gain is default?

YutoUchimi commented 5 years ago

PR2 tries to open his gripper, but cannot achieve for about 3~20 seconds (It seems that the latency depends on the time since last :start-grasp and probably on grasping gain...?). I tested this PR with real robot and it works fine.

k-okada commented 5 years ago

Is this because we have changed gripper ? Why we do not need this until now.....

2019年11月6日(水) 10:39 Yuto Uchimi notifications@github.com:

PR2 tries to open his gripper, but cannot achieve for about 3~20 seconds (It seems that the latency depends on the time since last :start-grasp and probably on grasping gain...?). I tested this PR with real robot and it works fine.

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YutoUchimi commented 5 years ago

Yes, we introduced new fingertips with Gecko tape into PR1040 yesterday, and this is the first time to use it.

knorth55 commented 5 years ago

Gecko tape is strongly attached if PR2 closes the gripper with some effort. That's why we need to set more effort to open the gripper.

knorth55 commented 5 years ago

It is like a lottery to pass travis test. I strongly want to merge https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/417 and make test work properly.

knorth55 commented 4 years ago

@k-okada Travis test passed. Could you merge this PR?

k-okada commented 4 years ago

@knorth55 what is 0.03 means and why you multiply by 2000 ?

knorth55 commented 4 years ago

@k-okada I just follow line in :start-grasp. I have no idea why :gain is multiplied by 2000. https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus/pr2-interface.l#L266-L267

I digged up commit history and found that this weird 2000 is added in 2010. https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/dfef9d8861fb7fa0ff59cc3cb3e8192a4ed0da15

knorth55 commented 4 years ago

@k-okada according to PR2 manual, max effort of PR2 gripper joint is 1000N. so probably, (* gain 1000) might be reasonable now. was the max effort 2000 in 2010 and set lower limit now?