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  3. Chew Wei Yi

    Sawyer/TCP/IP/Keysight 3070 System

    Hello everyone, Anyone have experience on using TCP/IP with Keysight 3070 system ? Network connection has successfully connected between Sawyer and Keysight 3070 system. Sawyer perform homing done and set signal to Keysight 3070 system Keysight 3070 system received sawyer signal and proceed to ask to perform next step ( open fixture ) However, sawyer did not receive the signal ( check shared data ) from Keysight 3030 system, hence no actions moved. Anyone know why ? Or anyone have good sample between Sawyer and keysight 3070 system to share with me ? thank you in advance
  4. Hi, We are trying to export the image out of sawyer without using the internet through the SMTP concept. We tried this by creating the SMTP server but we failed. could you please help us with that?
  5. Padiolleau Guillaume

    Arm jumps when turning on interaction control

    Hello, I experiment some jumps when turning on interaction option. Even when low impedance command, the arm jumps when I send interaction command. Is there any mean to avoid this behaviour ? Thanks, Guillaume Padiolleau
  6. Heriberto Tianjero

    Banner configure IO

    Hello everybody I am looking to make a configuration to the banner module to be able to resume task. Has anyone done this? I already made a connection with the module via usb connection, and i configure an external Stop Emergency, but I don't understand how to connect the inputs IN11, IN12, IN13 and the sawyer can be activated like show This is the "program" I appreciate the help you can give me. Best regards!
  7. Padiolleau Guillaume

    Limb's IK Request when changing endpoint tool in URDF

    Edit: [Solved] - The arm stopped to go crazy. I made a mistake in units for inertial part of links definition in URDF file. Make sure you have kg/m² and not kg/mm² (output of some CAD software). - I solve the Segmentation Fault bug. It came from the ROS parameter tip_name and gravity_tip_name that were trying to reach an unexisting link (but it was defined in my URDF file). To solve this : - compile your xacro file in URDF using the ros script xacro "$ rosrun xacro xacro my_file.urdf.xacro > my_file.urdf" and check if the resulting URDF file is correct - compile your URDF file in SDF format using Gazebo "$ gzsdf -p my_file.urdf > my_file.sdf" and check if you can find all of your links. Because of the lumping in Gazebo, some of your link will "disappear", combined in one more global link, if they are connected through fixed joints. For example, my third joint in the chain was a "revolute" joint, however it followed 2 fixed joint and because of the lumping the third (even a revolute) disappeared and the last link (my tip) disappeared with. Then ROS was trying to get this link as tip and causes gzserver to crash. Not obvious at all, I was going crazy... To solve my chain, I add a "fake" link between 1st and 2nd links. I fixed the 1st one with the right_hand, and the fake_link. Then I fixed 2nd link and fake_link, and my 3rd link with fake_link too. I must do that, because I have a FT_sensor between 2nd and 3rd links that needed to be attached on a joint. But this FT_feedback joint must NOT disappear in SDF else the ft_plugin will crash. So you have to tell Gazebo to disableFixedJointLumping on this joint, however if there is a more-than-1-joint chain of fixed joint this does not work properly... So, the fake_link enable to disable the lumping by attaching 2 links on one fake_links. Tricky, but it works. I any of you faces similar issues, feel free to ask here I could probably help you. Guillaume Padiolleau
  8. Padiolleau Guillaume

    Limb's IK Request when changing endpoint tool in URDF

    Edit: I think I sovled the second part: I had the wrong gravity_tip_name and tip_name for rosparam in launch file. BUT, I now cannot add my full tool chain (hand_interface + sensor + tool). I can just add the hand_interface and the sensor without the libgazebo_ros_ft_sensor.so plugin. If I add the tool (without plugin) gzserver run into SegFault Core Dump and the tool (specifically, idk why) does not appear or not spawn. If I add the ft plugin, it don't find the sensor joint and same scenario tool does not appear and gzserver fall inot SegFault...Any Idea ? In the second hand, the arm goes really crazy when attempting to compensate gravity as you can see in the attached video ... Thanks for your help. gazebo-2020-09-03_15.48.28
  9. Padiolleau Guillaume

    Limb's IK Request when changing endpoint tool in URDF

    Hello, I'm working on Sawyer arm in simulation & with real one in SDK mode, and have Intera 5.3. I added new tools we developed in robot description URDF file. When I launch a simulation through Gazebo, I can see the tool I selected. This part is ok. But, I have 2 problems in Gazebo simulation: - First, when no command is sent to the robot in simulation, the arm constantly moves. It seems that the gravity compensation cannot compute right commands to get the arm not moving. I may have missed something in my URDF files. (I set inertial and mass part) - Second, using the Limb class IK_request function seems not working with new endpoint tool. If I try running an IK request without modifying the end_point arg (default is "right_hand") it says it cannot find a kinematic chain between base and this endpoint. Which normal, since it is not my endpoint tool link name in URDF file. But if is set it to the right link name (say "ttt_tool" as defined in my URDF file) then the IK solver can never find a solution whatever is the given position/orientation point requested. I must have missed somthing in configuration ? I also have another question: Since in Gazebo simulation we have to specify the endpoint in Limb()._ik_request function which refers to the link name in urdf file, do we have anything to specify for real world robot when changing the endpoint tool ? Thank you for reading and for future help. (I recreated the topic because I cannot edit the first one with no reason since I had a Gateway Time-out when editing it first time, the forum crashed down) Guillaume Padiolleau, PhD student
  10. klemikaze

    Time to full halt after e-stop

    Hello. For purpose of documentation, our customer has requested information I wasn't able to find anywhere. How long does it take for the robot to go to full halt after emergency stop button is pressed? The information is requested with milisecond precision. Can anyone answer me please?
  11. Has anyone come across this issue? I have tried reinstalling 5.3 on the sawyer. I am not able to resolve this issues and connect to the robot IO. This poses some issues as I can not receive/send signals from the Moxa controller.
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