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  3. MichaelPetrini

    SAWYER SDK 5.3 IS NOW AVAILABLE ON GITHUB

    Has any one else had problems editing tools from previous software versions after upgrading to 5.3?
  4. Last week
  5. Hello, I am trying to implement a basic Admittance controller on the Sawyer. I have a force sensor attached to the end-effector and I want to command the joint velocities to move the end-effector in a desired direction, depending on the forces acting on the force sensor. Do you (or does anyone) have any advice for how to go about this? One common method is to use the inverse Jacobian to relate the end effector velocity to the joint velocities, but I'm struggling to calculate it without getting bogged down in math. I'm not currently using trajectory planning. Can moveit be "Called" to output the inverse Jacobian that I can then use in my controller? Any advice is greatly appreciated! -Rachel Hoffman
  6. Rachel Hoffman

    Can two Sawyer robotic arms be controlled with one laptop?

    Please let me know if you get this running! I will also working to coordinate two Sawyer arms at the same time. -Rachel Hoffman
  7. Shiwei Wang

    Intera Library through ROS

    Hello jorgegalds_DON, Thank you for using Sawyer SDK. If you have any question related with Intera Software but not SDK, please check out another forum: https://rethinkrobotics.interaforum.com/forum/3-using-intera/ Shiwei
  8. Shiwei Wang

    Individual Joint Impedance Control

    Hi nselby, Thank you for using Sawyer SDK! The circle motion in SDK in achievable, currently, we do not have the example does exactly the same motion as you described. But we will definitely add more corresponding examples in the near future. -Shiwei
  9. hi Shiwei, I am having issues in simulation only. The actual robot grippers are behaving fine. I am starting to dig into the electric gripper controller link I posted above. Here are other notes I have about the issue: The issue does not seems to be consistent. I just restarted the system now and now, but joints (main and mimic) open and close as they should. I *do* see a delay on the order of 0.2 to 0.5 seconds between the actuation of the joints in the simulation. I'm looking at this in RViz. I'm now wondering if the timing of the delay has something to do with the intermittent issue. I would say that 50 to 75% of the time I've seen the issue occur. Might be processor computation resource based or networking dropped message based. Mike
  10. Hello, mjpark, We are not able to reproduce your issue, we did verify on the 16.04 machine, everything seems fine. Few suggestions: 1, make sure to have a stable connection between the robot and your workstation. 2, make sure your gripper firmware is updated, if you want to check your gripper firmware and update it, please go to FSM to set it up. 3, make sure your SDK checkout is the latest checkout, you can also recreate a workspace. -Shiwei
  11. Shiwei Wang

    Robot not accepting commands even though it is enabled

    Hello Mdalal, I suggest you set up static IP on your robot FSM since you are using robot hostname in intera.sh I assume. Also, make sure you are able to get rostopic list and able to get the joint states from the robot before running any example. Hope this helps. -Shiwei
  12. Shiwei Wang

    Sawyer not connecting to ROS

    Hello, jorgegalds_DON, Conti Michele, Enrico Mattei, Sorry for late reply in here, If you are running Intera software, please check out https://rethinkrobotics.interaforum.com/forum/3-using-intera/ for more information. For SDK, please try to ping your robot from your workstation, make sure ping is working. Also, you can try to set up a static IP on the robot in robot FSM when you use robot hostname in intera.sh. Hope this helps. -Shiwei
  13. I'm running Ubuntu 16.04 with ROS Kinetic.
  14. yesinmsg

    Increase accuracy

    Our team had the following question, if we increase the mass of sawyer gripper (tool), this action will increase the accuracy of the positioning of the robot?, because in current task we have some problem with accuracy, it error: +/- half a degree for rotation coordinates and more than +/- 0,1 for decart coordinates what a lot for our operation Thanks
  15. Earlier
  16. Jake Hiltz

    Problem encountered with the PLG gripper installation

    Hi Yuan, The gripper is pneumatic, which means that you need to supply compressed air (2 - 8 bar). It is connected to the open connector shown in your picture.
  17. Shiwei Wang

    DH parameters for Sawyer

    Hi Asif, Please check out the attached table for more info: joint theta d a alpha 1 q1 0.237 0.081 -1.571 2 q2 0.1925 0 -1.571 3 q3 0.4 0 -1.571 4 q4 -0.1685 0 -1.571 5 q5 0.4 0 -1.571 6 q6 0.1363 0 -1.571 7 q7 0.11 8.08E-07 0 Shiwei
  18. mmugnano

    Live Ubuntu Usb

    Hello Enrico, This configuration has never been tested, therefor it is not supported. Thank you Michelle Mugnano
  19. I was working on the pneumatic gripper installation for a few days but failed to troubleshoot the issue. Attached is the screenshot of my intera studio to test the gripper installation. It is observed the indicator on the robot arm was blinking alternatively indicating the successful send of the true/false gripper signal output from the computer to the robot, but the gripper does not open/close at all. I have tried changing the valve regulators to various poeitions, but neither seems to make the gripper move. The position sensor and indicator for indicating the gripper states are working fine, so I think it maybe caused by the malfunctioning of the actuating unit, in which case, the valve and the pneumatic actuator. I also attached the image of the gripper, and the link for the video showing the blinking indicator when I run the program on the intera studio: https://drive.google.com/file/d/1um1xIOn5BM94NiaVSgAPI3vE3Y-6qEbM/view?usp=sharing Could anyone help me to identify the issue and possible ways to resolve it? Thanks so much!
  20. Hello, I have built my own magnetic gripper (size: 350x250x70) and I'd like to know if I can tell the robot the size/model of the gripper, maybe via a URDF file, so it can use it for the self-collision check. FYI: it is also possible for me to use the click-smart-plate if that's necessary. Can any one please help me ? Best Atma PS: This is the URDF file I'm using: <?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="magnetplate_of_doom"> <xacro:macro name="magnetplate_of_doom" params="side"> <joint name="${side}_gripper_base" type="fixed"> <origin rpy="0 0 0" xyz="0 0 0"/> <!-- Enter the 3D pose of your end effector frame here w.r.t. end of arm --> <parent link="${side}_hand"/> <child link="${side}_robotiq_gripper"/> </joint> <link name="${side}_robotiq_gripper"> <inertial> <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <!-- only modify this if there is an C.O.M. offset w.r.t your gripper_base joint above --> <mass value="4"/> <!-- Enter your mass and inertial properties here --> <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/> </inertial> </link> </xacro:macro> <xacro:magnetplate_of_doom side="right"/> </robot>
  21. Shiwei Wang

    gazebo simulation not running

    Hi Luke, My recommendation is to remove ros and reinstall everything, make sure to follow the tutorial. You can purge remove the ros kinetic and re- install, let me know if the commands fix your issue. Thank you. -Shiwei $ sudo apt-get purge ros-kinetic-* && sudo apt-get autoremove$ sudo apt-get install ros-kinetic-desktop-full
  22. What exactly is the effort array in the message from the topic /robot/joint_states? What is its relation to torque of the joint?
  23. Enrico Mattei

    Live Ubuntu Usb

    Hi, I have a question, can I use a Live USB with Ubuntu 16.04 to control Sawyer? Cause my professor asked me to try this mode but I read the Workstation Setup and I saw that the student or other person must install Ubuntu. Best Regards
  24. Grant Aylward

    Using Moveit with Clicksmart

    Hello KHLee, I apologize for the delayed response here. We recognize there is an issue here stopping ClickSmart devices to be used in Move-IT. The SDK team is working towards a resolution. I do not have a timeline on its completion. When a resolution is released I will update you here. Thank you, Grant
  25. Pablo Quevedo

    MoveIt Example Crashing

    My apologies. I thought I had all packages updated but it wasn't the case. After running a apt-get upgrade it all worked. Probably a version issue. Sorry for the short topic.
  26. Pablo Quevedo

    MoveIt Example Crashing

    Hello, I was following the MoveIt tutorial in the sdk.rethinkrobotics.com/intera/MoveIt_Tutorial, but it has not worked for me at all. Please find the error messages. Also the log attached. I am using Ubuntu 16.04. And have not done any custom anything. I recently updated the Robot Software and is in the latest 5.3 process[move_group-1]: started with pid [7071] process[rviz_dspl_ros_srvr_7059_1595009710053791996-2]: started with pid [7072] [ INFO] [1536698563.656032262]: rviz version 1.12.16 [ INFO] [1536698563.656161643]: compiled against Qt version 5.5.1 [ INFO] [1536698563.656204719]: compiled against OGRE version 1.9.0 (Ghadamon) [move_group-1] process has died [pid 7071, exit code -11, cmd /opt/ros/kinetic/lib/moveit_ros_move_group/move_group joint_states:=/robot/joint_states --debug __name:=move_group __log:=/home/dspl/.ros/log/3cda9162-b30c-11e8-b07f-d89ef31d6206/move_group-1.log]. log file: /home/dspl/.ros/log/3cda9162-b30c-11e8-b07f-d89ef31d6206/move_group-1*.log [ INFO] [1536698564.102091403]: Stereo is NOT SUPPORTED [ INFO] [1536698564.102295858]: OpenGl version: 3 (GLSL 1.3). [rviz_dspl_ros_srvr_7059_1595009710053791996-2] process has died [pid 7072, exit code -11, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/dspl/ros_ws/src/sawyer_moveit/sawyer_moveit_config/launch/moveit.rviz __name:=rviz_dspl_ros_srvr_7059_1595009710053791996 __log:=/home/dspl/.ros/log/3cda9162-b30c-11e8-b07f-d89ef31d6206/rviz_dspl_ros_srvr_7059_1595009710053791996-2.log]. log file: /home/dspl/.ros/log/3cda9162-b30c-11e8-b07f-d89ef31d6206/rviz_dspl_ros_srvr_7059_1595009710053791996-2*.log roslaunch-dspl-ros-srvr-6693.log
  27. lr101095

    gazebo simulation not running

    Hi Shiwei, Thanks for your response. I am indeed running Ubuntu 16.04 and ROS Kinetic. I meet all the minimum requirements, except for the Nvidia requirement. Although i do have a dedicated Radeon graphics card, Ubuntu does not recognise it when i look at the graphics status. I already looked at the suggested post before i posted my own topic and i didn't find anything that was of help. An issue though is that I have been using the simulation for several months now, and this issue suddenly came up. I know this happened after i tried to remove some ROS packages. although, i re-ran through the workstation setup for the simulation fully. but this is still an issue. Are there any other suggestions i may be able to try? Again, many thanks for your help! regards, Luke
  28. USC_robotics

    'right_j2' in gazebo behaves crazy

    Ok, it seems the latest version of sawyer simulator works just fine.
  29. USC_robotics

    'right_j2' in gazebo behaves crazy

    Hi community, I just found the limb's joint 'right_j2' behaves crazy. 2 two things I tested. 1. it will give you wrong joint_angles, which already exceeds joint_limits 2. when I give it some torque command, using set_joint_torques, it will reach to some crazy positions. by echo the reached effort, I found it's totally different with what I commanded. Any thoughts? Thanks!
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