Strange behavior/missing joints when using MoveIt to configure gripper

asked 2018-12-14 15:41:14 -0600

ceres gravatar image

updated 2018-12-21 11:34:51 -0600

I'm trying to build a simulation in Gazebo for a UR robot along with a Robotiq 2F-140 gripper (ideally with ros-melodic), but when using MoveIt to generate config files for a the robot coupled with the end effector, the robot poses for the gripper planning group don't appear to load correctly. As demonstrated in the gifs below, only the finger_joint appears in the group (which includes all the gripper joints).

What is even more confusing is that:

1) the first time I try to configure the pose, all of the joints are activated and move into position (not just the finger_joint).

image description

2) But once the pose is saved, subsequent poses only actuate the finger_joint.

image description image description

Notice that in the planning group, I have more than just the finger_joint selected. image description

Is this expected behavior?

I have tried a number of different combinations including:

  • urdf configurations using UR arm models (UR3/5/10) with both the 2f-140 and 2f-85 grippers
  • ros-kinetic and ros-melodic
  • Ubuntu 18.04 and Ubuntu 16.04
  • urdfs that I have created, but also third party examples from tutorials and open source projects

Even with all these variations, I always get the same result, and must be missing something fundamental.

What could cause this to happen, and how do I correctly configure my robot for simulation?

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Could this be related to the way I am creating the planning group as described here ? Depending on which joints I include, the gripper components detach in different ways, but I'm not clear about the correct configuration.

ceres gravatar imageceres ( 2018-12-15 23:07:46 -0600 )edit

Hi there, I have the same problem. Did you by any chance find a solution? Also, could this be related to some sort of a mistake in the Robotiq urdf files? When attaching my gripper to ur10 in a urdf file it correctly adds the gripper's base link to the robot, but the fingers remain detached.

pennjamin gravatar imagepennjamin ( 2019-07-31 01:17:13 -0600 )edit