Hello there,

I am trying to use the gazeborosvacuumgripper plugin from gazeborospkgs in Jade. My URDF can be found here. Basically it is a box that starts out roughly 0.5 m above ground and then gravity pulls it downward. On the underside of my box, I have added a link/joint for the vacuumgripper.

I am able to turn the grasping service on and it notifies me on the topic /Gecko_2/vacuum_gripper that it is grasping. However, if I apply a body force in Gazebo that is just larger than the weight of the box, the box moves upward off the ground plane in Gazebo. When this occurs, the state of /Gecko_2/vacuum_gripper stays True (grasping).

This should not happen from my understanding of the vacuum_gripper. Is there something I am doing wrong?

I want to be able to extend this example to a walking robot in which each leg will be attached to the groundplane through a vacuumgripper.

Any help would be appreciated, including going about this a different way. I looked into gazebo/physics/gripper.cc, but have not yet tried. It appears to create a fixedJoint between the gripper and the grasping object for a certain amount of time.