Enabling gripper force using MoveIT (python) for franka panda
Hello ! I am currently designing an experiment with the the franka panda robot. The software specifications are Ubuntu 18.04, Ros melodic. I have already installed libfranka and Franka ROs. I am using rviz and gazebo to design and test the scenario and then implement it on the real robot. Anyways as my experiment involves pick and place tasks, I need to grasp the object with the panda's gripper with a specified force. I am using python to program the experiment. I understood that MoveIt python interface provides a pick function and also a Grasp message to achieve this. But since I am relatively new to ROS, I find it difficult to understand how to implement the gripper force in gazebo using python. Also as all my pick and place tasks need a specified gripper force, can I config the default gripper force to a predefined value. I am confused how to approach this. Any tips or suggestions would be really appreciated. Thanks.
Asked by ssk on 2021-05-19 05:05:26 UTC
Comments
What gripper are you using? In reality grasping force depends on the output (or setpoint) of your gripper. Do you really need to have that simulated in gazebo? I'd take a shortcut and not simulate that in gazebo, only implement in on the real robot. moveit pick and place tutorial is a good tutorial for picking & grasping.
Asked by crnewton on 2021-05-20 04:47:09 UTC