# Grasp() detaches parts of my gripper from the rest everytime its called

Hallo guys,

I am trying to get a pick/place with an ABB_irb2600 to work and ran into a problem: Every time the Grasp() happens the finger of my gripper (Added by myself into the ABBs urdf, see below) is moved about 20cm in x direction (of the parent link). It does not matter which of the two fingers is actuated. The problem that results from this is that the detached finger is still colliding with my environment and thus messes up the trajectory planning which in turn is failing my place() attempts.

I tried resetting the gripper into the "open" state which I introduced in the moveit setup_assistant but it is not working. Adding limits in the urdf did not yield results as well. Reducing the amount of obstacles (I try picking from one table and placing on another) helps but is still failing every other execution.

I checked out this post, but I guess it is a different Problem, because he had no collision.

I would have realy liked to supply you with pictures, but my karma is to low to upload any files.

My setup is Ubuntu 16.04 LTS with 4.15.0-52-generic kernel and i am running ROS kinetic. For visualization i use the demo.launch file from the abb_irb2600_moveit_config package supplied by ABB. For my imports look at the code below, please.

[ WARN] [1561727424.886234042]: Fail: ABORTED: No motion plan found. No execution attempted.
Is the only warning/error i get.


The pick works most of the time, but the place has only 20% success rate.

Shawn

## gripper URDF

 <link name="palm">
<visual>
<geometry>
<box size="0.15 0.05 0.05"/>
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.15 0.05 0.05"/>
</geometry>
</collision>
<visual>
<geometry>
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1"/>
</material>
</visual>
<collision>
<geometry>
</geometry>
</collision>
<visual>
<geometry>
<box size="0.02 0.1 0.05"/>
</geometry>
<material name="">
<color rgba="0.0 0.3490196 0.0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.02 0.1 0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<box size="0.02 0.1 0.05"/>
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.02 0.1 0.05"/>
</geometry>
</collision>
<!-- Joints -->
<origin xyz="0.025 0 0" rpy="0 0 1.5707963267948966 ...
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2

That will show much more clearly that your question was answered than a [closed] added to the title.

( 2019-06-28 10:12:26 -0500 )edit
1

You posted it as a comment. I've converted that to an answer.

( 2019-06-28 11:31:51 -0500 )edit

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EDIT: I found the problem 20 mins after posting this: i set pos.positions.append(0.2) to pos.positions.append(0.01) and it solves the problem as it should. so the problem was in front of the PC once more.

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