gabrigoo

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About gabrigoo

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  1. gabrigoo

    Gripper does not connect to Sawyer

    Hello, I have been trying to connect this gripper to the Sawyer however it doesn't seem to properly work. Basically, if I run the example code $ rosrun intera_examples gripper_cuff_control.py everything works perfectly. However, if I run this simple code: # Sawyer Packages import os import rospy import intera_interface from intera_interface import Gripper # Initialize ROS node, registering it with the Master rospy.init_node('Sawyer_AssistiveGym') # Create an instance of intera_interface's Limb class limb = intera_interface.Limb('right') # Enable the robot in case the emergency button was pressed os.system('rosrun intera_interface enable_robot.py -e') limb.move_to_neutral(timeout=15.0, speed=0.6) # Use Gripper arm = 'right_gripper' _gripper = Gripper('right') then I get the following error: [INFO] [1635963926.594737]: Robot Enabled [WARN] [1635963927.249393]: Specifying gripper by 'side' is deprecated, please use full name (ex: 'right_gripper'). Traceback (most recent call last): File "/home/gabrigoo/assistive-gym/SawyrExp.py", line 17, in <module> _gripper = Gripper('right') File "/home/gabrigoo/ros_ws/src/intera_sdk/intera_interface/src/intera_interface/gripper.py", line 47, in __init__ intera_dataflow.wait_for( File "/home/gabrigoo/ros_ws/src/intera_sdk/intera_interface/src/intera_dataflow/wait_for.py", line 42, in wait_for raise OSError(errno.ETIMEDOUT, timeout_msg) TimeoutError: [Errno 110] Failed to get gripper. No gripper attached on the robot. Why is this happening? Thanks in advance!