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Gripper connected to UR3 can't pick any object - no friction.

asked 2017-07-14 08:16:16 -0500

pwalczykk gravatar image

Hi,

I am working on the simulator, which can perform objects grasping with a robotic arm.

When I use my own robot model, it can perform grasping very well, but after replacing my manipulator with UR3 with my gripper connected, the robot can't pick any object. All objects are slipping from its fingers like there was no friction. In Gazebo GUI all properties of the gripper are the same for both robots.

Is it possible, that some properties, which prevents from grasping are propagated from UR manipulator to its gripper?

Any help will be appreciated.

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answered 2017-07-14 11:11:54 -0500

One way to check what parameters were eventually loaded into Gazebo is to do File -> Save World As, and then dig through the saved SDF file to see what friction values were actually passed to the gripper.

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Thank you Chapulina for smart advice. Unfortunately (or fortunately), those parameters in SDF file are all OK. This means that problem is probably hidden somewhere else.

pwalczykk gravatar image pwalczykk  ( 2017-07-17 03:26:59 -0500 )edit

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Asked: 2017-07-14 08:16:16 -0500

Seen: 332 times

Last updated: Jul 14 '17