[bug] Pull request #147 breaks gripper_action actions
#179
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13 tasks
rickstaa
referenced
this issue
Nov 23, 2021
With the mesh shape with the 28 vertices Gazebo struggles in contact situations. When closing the fingers once they touch they become very unstable and jiggle around. Reverting the finger collision into a primitive compromised of boxes solves the problem.
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This was fixed by 936ef8e. |
marcbone
pushed a commit
that referenced
this issue
Mar 29, 2022
* commit 'ac486b845334172f446127161bfdf6e4c86c77f4': add date to CHANGELOG.md bump version to 0.9.0 update CHANGELOG.md add base acceleration and new errors to robot state
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@falfab I just noticed that my previous pull request breaks the
/panda/franka_gripper/gripper_action/goalaction (see 1 gif below). I'm now investigating why this is the case, as this did not happen in the justagist/franka_panda_description (i.e. the repository from which thestlfiles are taken). This problem does not occur when using the/panda/franka_gripper/move/actionhere, however the gripper is not able to close fully (see gif 2 below).I spend some minutes trying to improve the mesh but did not find one for which the problems were solved. Although I think improving the collision mesh can remove the problems, I do not have more time to work on this. As a workaround I created #180, which contains more accurate collision geometries, to solve the problems.
Other meshes
Removed top part intrusion
When we remove the top part intrusion, the behaviour is not improved.
finger_improved.zip
Shorten top
When we shorten the top part, the behaviour is not improved.
finger_improved3.zip
Lengthen gripper pads
finger_improved4.zip
When I lengthen the bottom (i.e., grasping pads) by 1 mm the gripper now spawns in the closed position. When closing the gripper still strange behaviour is present.
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