How to know if an object has been successfully gripped in gazebo with moveit

asked 2021-10-01 08:32:41 -0500

garethbyers gravatar image

updated 2022-03-03 09:43:27 -0500

lucasw gravatar image

I am working on a pick and place task and have added vacuum grippers to a ur5 robot but after turning on the grippers using the plugin and attempting to attach or grip the "wood cube 10cm" in gazebo nothing happens. I can see in the terminal that the grippers have changed to on and I currently have 9 grippers in a 3x3 attached to the ee_link and am turning them on and off using the command "rospy.ServiceProxy('/ur5/vacuum_gripper1/off', Empty)" for each of the grippers changing the number of the gripper to match each one. This does not seem to work and I cannot see any glaring faults in my configuration files etc.

I cannot seem to show the link configuration for the gripper but the plugin and joint code is below. This code is the same for each of the grippers other than the names

<joint name="gripper_joint" type="revolute">
  <axis xyz="1 0 0" />
  <parent link="tool0" />
  <child link="vacuum_gripper" />
  <origin rpy="0 1.5708 0" xyz="0.01 0.0125 0" />
  <limit effort="50" velocity="50" lower="0" upper="0" />
  <dynamics damping="0.0" friction="10"/>
  <plugin name="gazebo_ros_vacuum_gripper" filename="">


Any help would be appreciated. thanks.

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In real devices, you read a sensor value that tells you the air pressure inside the chamber. However, I'm not familiar with this gazebo model, so I don't know if the model provides this feature. If you provide a link to the source code for libgazebo_ros_vacuum_gripper, I'll take a look.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-10-03 09:56:27 -0500 )edit