Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

the width setting of fr3 gripper #78

Open
Averykla opened this issue Nov 18, 2024 · 1 comment
Open

the width setting of fr3 gripper #78

Averykla opened this issue Nov 18, 2024 · 1 comment

Comments

@Averykla
Copy link

Averykla commented Nov 18, 2024 •
edited
Loading

I encountered a problem when I tried to grab a paper box on the table with Franka. Because the weight of the paper box is light, and when I used the robot arm to grab the paper box, the posture of the gripper was not parallel to the paper box, there was an angle. These situations will cause the gripper to tighten and then loosen a short distance when I give it a fixed width to grab, resulting in the paper box not being clamped tightly. I want to ask how can I clamp it if the gripper's grasping posture I give is not aligned with the paper box.

Here is my grasping posture
微信图片_20241118155742
微信图片_20241118155730
.
@AndreasKuhner
Copy link
Member

Hi @Averykla ,
no easy question. One way would be to try to grasp it with a better orientation?

Maybe you could also try to reduce the width (aka shorter then the box) and then the gripper should continually try to clamp it...?

Cheers,
Andreas

Smith-JackSmith added a commit that referenced this issue Jan 22, 2025
@Smith-JackSmith
Pull request #78: PRCUN-3481 ros2 integration
6f443dd 
Merge in MOCTRL/franka_ros2 from PRCUN-3481-ros2-integration to humble

* commit 'de9a84baceb982eacec5f74e670642210fae87bd':
  fix: user id inside the container must match the host user id
  fix: correct all the franka_gazebo launchers to retrieve franka_description
  Typo
  Update README - instructions for Docker, vs Terminal
  fix: gazebo_joint_impedance_controller_example
  Set the base workspace as /ros2_ws for the Dockerfile. Update README.md.
  Update README - instructions for Docker, vs Terminal
  fix: add some missing dependencies to franka_gazebo and franka_moveit. minor changes to the Dockerfile.
  Topic - Add franka_ros2 repo to ROS2 Distribution Index Includes -     Add: required package.xml files and CMakeLists.txt     Change: Use a single Dockerfile for both ./.devcontainer and ./ (soft-link).     Edit: README.md     Remove: joint_trajectory_controller, use upstream ros2_controllers
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@AndreasKuhner @Averykla