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pietrolechthaler / UR5-Pick-and-Place-Simulation

Simulate the iteration of a UR5 robot with Lego bricks
https://youtu.be/v45mPw_XEXA
MIT License
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Objects slips from gripper during Gazebo simulation / How to use gazebo_ros_link_attacher ? #6

Closed jainvrushabh5 closed 1 year ago

jainvrushabh5 commented 1 year ago

Hey@pietrolechthaler I'm trying to simulate a simple scenario of pick and place for my UR5 ARM robot but i'm encoutering some problems during grasp. In particular, when grasping the gripper starts shaking untill the object slips out of the gripper the gripper seems to explode as can be seen in Video I am using effort_controllers. Please help me to solve the issue or please let me known how can I use gazebo_ros_link_attacher in my project 

 </gazebo>
    <!--using the grasp plugin so that the gripper can grasp things in simulation-->
    <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>gripper_finger1_finger_tip_link</gripper_link>
                <gripper_link>gripper_finger2_finger_tip_link</gripper_link>
                <gripper_link>gripper_finger1_inner_knuckle_link</gripper_link>
                <gripper_link>gripper_finger2_inner_knuckle_link</gripper_link>
                <gripper_link>gripper_finger1_knuckle_link</gripper_link>
                <gripper_link>gripper_finger2_knuckle_link</gripper_link>
            </arm>
            <forces_angle_tolerance>100</forces_angle_tolerance>
            <update_rate>10</update_rate>
            <grip_count_threshold>4</grip_count_threshold>
            <max_grip_count>8</max_grip_count>
            <release_tolerance>0.005</release_tolerance>
            <disable_collisions_on_attach>false</disable_collisions_on_attach>
            <contact_topic>__default_topic__</contact_topic>
        </plugin>
    </gazebo>