Open jkaniuka opened 12 months ago
Hi @vimior, the gripper in the Gazebo simulation for xArm6 is still not working properly. Do you plan to solve this issue in the nearest future?
Hi @jkaniuka, sorry about the unpleasant experience. it is true that this command discrepancy exists in the gripper simulation and real hardware. However, the logic was like this since four years ago, if we reverse the direction and change the command unit now, it may influence all other users who had already developed their application based on our repo.
If the consistency between gripper simulation and real hardware control is a must for you. You may modify the code or add your own command mapping logic in the way you discovered. Again, sorry for the inconvenience.
I have been using both the real robot (xArm6) and the simulation in Gazebo and noticed there is a problem. In section 5.7(_xarm_api/xarmmsgs) it says:
When we look at the SRDF (
xarm6_gripper_moveit_config/config/xarm6_with_gripper.srdf
) file, you can see that distance 0 indicates an open state, and distance 850 indicates a closed state.This has two consequences: