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Found 6 results

  1. Andreas Moser

    self-collision clicksmart SDK mode moveit

    Hi, I have a problem with the adjusted clicksmart plate using moveit. i used this repository: https://github.com/RethinkRobotics/sawyer_moveit/tree/clicksmart_moveit I have executed all the commands which are described, but in Rviz l6 is highlighted red and the moveit controller fails everytime. The collition geometry overlapps, so it has to be self-collision. Is there anything else i have to do? Thank you, Andreas
  2. Andreas Moser

    Customized Gripper to URDF

    Hi, for a current application, i would like to use an customized pneumatic gripper. I want to do the path planning with moveIt. For this i need the end gripper in the urdf file so it is visible in the RVIZ. i have already tried to load the necessary xacro file with the send_urdf_fragment function. The function did not give an error message, but the gripper was still not inserted Used code: rosrun intera_interface send_urdf_fragment.py -f ~/path/right_end_effector.urdf.xacro -l right_hand -j right_gripper_base Is there anything else I need to watch out for? Thank you very much
  3. We are currently trying to use the camera to complete some basic tasks, but I only find one camera example in the tutorial " camera image display example". If we want to do something more complicated, like camera inspection, or using camera to recognize other targets and send signal to control the gripper. Is there any good example for it that anyone can share? So appreciate! I know Rivz is pretty good software and has a lot of functions, but we are research based and we hope to access basic codes. We are currently doing Linear Temporal Logic, if you have any experience about its application on Sawyer robot or currently doing that too, please provide some advises! Thanks a lot! Junchao Li
  4. jorgegalds_DON

    Gripper Joystick Controller

    Hello everyone, So I was trying to test the Gripper Joystick Controller found at the Intera Examples. I have a PS3 controller and have successfully paired it to my ROS using the ps3/Joy tutorial. But when I follow the Intera tutorial on how to run the program, I am always facing the error "IndexError: tuple index out of range". I know it is not the same nut I tried the Gripper Keyboard example and that one worked perfectly on my Sawyer. If someone has experience running this example I would greatly appreciate the advice. I might also text it using an Xbox 360 controller but I think it should be working as it is because the connection is stable with the PS3 one. Thanks in advance for any advice. -Jorge
  5. Hello, I tried to run the gripper example with command "$ rosrun intera_examples gripper_keyboard.py", but it turned out with few errors. Few functions like "map_keyboard(args,limb)", "gripper=intera_interface.Gripper(limb)" have errors and the last two showed that the gripper is not attached. See screen shot attached. We bought Pneumatic Large Gripper Kit and assembled by exactly following the instruction and I am sure it was attached properly, but I don't know why it shows the gripper is not attached. Similarly, when I tried to run the second example with command "$ rosrun intera_examples joint_position_keyboard.py", it shows "Could not initialize the gripper". I wonder do I need to type any command to let the robot know the gripper is attached? Junchao Li
  6. Hi, I attached a Weiss WSG50 gripper to our Sawyer and I would like to update the gravity compensation to account for the gripper's mass. I have the gripper's urdf here: https://github.com/nalt/wsg50-ros-pkg/blob/master/wsg_50_simulation/urdf/wsg_50.urdf How do I integrate this into Sawyer's URDF and make the controller use this at runtime? Thanks!