ROBOTIS-GIT/open_manipulator

Unable to lower minimum on Gripper Close past -0.10

sardanian opened this issue · 5 comments

sardanian commented

I am trying to make the gripper close just a little bit more. It is currently set to a minimum of -0.10, but I want to close it just a bit more. I can manipulate the gripper to close a bit more, but cannot seem to find in the code what to change. I have attempted to change it in the:
open_manipulator_x_teleop_keyboard.cpp file (line 239) but it stops working when it is put to anything below -0.10

I then assumed it had a minimum and tried to change it in: open_manipulator_x.cpp (line 114) but that also doesn't work.

Is there a way I can change the code so that the gripper can close a little bit more?

Thank you.

ROBOTIS-Will commented

@sardanian
Here's the configuration of each joint of OM-X and you can find the minimum gripper value in the below.
https://github.com/ROBOTIS-GIT/open_manipulator/blob/master/open_manipulator_libs/src/open_manipulator.cpp#L114

Thanks!

sardanian commented

Hi @ROBOTIS-Will,

I had previously tried to change that file and it would not work.

What I changed was the value from -.01 to -.02. I also changed this line to -.02 as well.

https://github.com/ROBOTIS-GIT/open_manipulator/blob/master/open_manipulator_teleop/src/open_manipulator_teleop_keyboard.cpp#L328

The arm will not close when the values of both files are below -.01

Am I missing something?

Thank you.

ROBOTIS-Will commented

@sardanian
The gripper of OM-X is mechanically limited by its design.
Make sure that there's a room for exceeding the minimum pose.
I believe -0.01 is pretty close to the mechanical limit and in order to grab something thin, you should use thicker gripper pad that is included in the package.
image

sardanian commented