Gripper can not grasp the object

[babistheod]

The object slips from the gripper every time. I have checked the link in your debug page but i could not resolve the issue. Have you found the right parameters to solve the problems? Thank you!

[clyde-7]

The object slips from the gripper every time. I have checked the link in your debug page but i could not resolve the issue. Have you found the right parameters to solve the problems? Thank you!

I have same Q!

[zebin-huang]

Hey guys, this setting works for me to grasp successfully

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="ur5_gripper">
  <!-- include macros for UR5 and the Robotiq eef model -->
  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
  <xacro:include filename="$(find ur_description)/urdf/ur5_camera.urdf.xacro" />
  <xacro:include filename="$(find icl_ur5_setup_description)/urdf/robotiq_arg2f_140_model_macro.xacro" />
  <xacro:include filename="$(find icl_ur5_setup_description)/urdf/robotiq_fts300.urdf.xacro" />

  <xacro:macro name="ur5_with_gripper_joint_limited" params="prefix">
    <!-- arm -->
    <xacro:ur5_robot prefix="${prefix}" joint_limited="true" 
      shoulder_pan_lower_limit="${-3*pi/4}" shoulder_pan_upper_limit="${pi/2}"
      shoulder_lift_lower_limit="${-pi*7/8}" shoulder_lift_upper_limit="${-pi/8}"
      elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
      wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
      wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
      wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
    />

    <link name="world" />
    <joint name="fixed_link_robot_base" type="fixed">
      <parent link= "world" />
      <child link = "${prefix}base_link" />
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    </joint>

    <!--force torque sensor-->
    <xacro:robotiq_fts150 prefix="" parent="ee_link" >
      <origin xyz="0.009 0 0 " rpy="-${pi/2} 0 -${pi/2}"/>
    </xacro:robotiq_fts150>

   <!-- gripper -->
    <xacro:robotiq_arg2f_140 prefix="${prefix}" />
    <joint name="ur5_ee_link_gripper_base" type="fixed">
      <parent link= "${prefix}fts_toolside" />
      <child link = "${prefix}robotiq_arg2f_base_link" />
      <origin xyz=" 0.0 0.0 0.0" rpy="0.0 0.0 ${pi/2}" />
    </joint>

    <link name="${prefix}tool" />
    <joint name="tool_tip" type="fixed">
      <parent link= "${prefix}ee_link" />
      <child link = "${prefix}tool" />
      <origin xyz=" 0.00 0.0 0.2" rpy="0.0 0.0 0.0" />
    </joint>
  </xacro:macro>

  <xacro:ur5_with_gripper_joint_limited prefix=""/>

  <!-- Change Color -->
  <!-- left inner knuckle -->
  <gazebo reference="left_inner_knuckle">
      <material>Gazebo/Black</material>
  </gazebo>
  <!-- right inner knuckle -->
  <gazebo reference="right_inner_knuckle">
      <material>Gazebo/Black</material>
  </gazebo>
  <!-- left outer knuckle -->
  <gazebo reference="left_outer_knuckle">
      <material>Gazebo/Black</material>
  </gazebo>
  <!-- right outer knuckle -->
  <gazebo reference="right_outer_knuckle">
      <material>Gazebo/Black</material>
  </gazebo>
  <!-- left inner finger  -->
  <gazebo reference="left_inner_finger">
      <material>Gazebo/Black</material>
  </gazebo>
  <!-- right inner finger -->
  <gazebo reference="right_inner_finger">
      <material>Gazebo/Black</material>
  </gazebo>
  <!-- left outer finger  -->
  <gazebo reference="left_outer_finger">
      <material>Gazebo/Black</material>
  </gazebo>
  <!-- right outer finger -->
  <gazebo reference="right_outer_finger">
      <material>Gazebo/Black</material>
  </gazebo>
  <!-- left finger tip -->
  <gazebo reference="left_finger_tip">
      <material>Gazebo/Black</material>
  </gazebo>
  <!-- right finger tip -->
  <gazebo reference="right_finger_tip">
      <material>Gazebo/Black</material>
  </gazebo>

 <!-- Plugin -->
  <gazebo>
      <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
          <arm>
              <arm_name>ur5</arm_name>
              <palm_link>wrist_3_link</palm_link>
              <gripper_link>left_outer_knuckle</gripper_link>
              <gripper_link>right_outer_knuckle</gripper_link>
              <gripper_link>left_inner_finger</gripper_link>
              <gripper_link>right_inner_finger</gripper_link>
          </arm>
          <forces_angle_tolerance>150</forces_angle_tolerance>
          <update_rate>130</update_rate>
          <grip_count_threshold>2</grip_count_threshold>
          <max_grip_count>8</max_grip_count>
          <release_tolerance>0.01</release_tolerance>
          <disable_collisions_on_attach>false</disable_collisions_on_attach>
          <contact_topic>__default_topic__</contact_topic>
      </plugin>
  </gazebo>
</robot>