{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1448","repository_url":"https://api.github.com/repos/start-jsk/jsk_apc","labels_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1448/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1448/comments","events_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1448/events","html_url":"https://github.com/start-jsk/jsk_apc/pull/1448","id":154429238,"number":1448,"title":"[jsk_2016_01_baxter_apc] Don't overload gripper servo when placing object","user":{"login":"pazeshun","id":14994939,"avatar_url":"https://avatars.githubusercontent.com/u/14994939?v=3","gravatar_id":"","url":"https://api.github.com/users/pazeshun","html_url":"https://github.com/pazeshun","followers_url":"https://api.github.com/users/pazeshun/followers","following_url":"https://api.github.com/users/pazeshun/following{/other_user}","gists_url":"https://api.github.com/users/pazeshun/gists{/gist_id}","starred_url":"https://api.github.com/users/pazeshun/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pazeshun/subscriptions","organizations_url":"https://api.github.com/users/pazeshun/orgs","repos_url":"https://api.github.com/users/pazeshun/repos","events_url":"https://api.github.com/users/pazeshun/events{/privacy}","received_events_url":"https://api.github.com/users/pazeshun/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/start-jsk/jsk_apc/labels/gripper","name":"gripper","color":"c2e0c6"},{"url":"https://api.github.com/repos/start-jsk/jsk_apc/labels/merge%20ok","name":"merge ok","color":"0e8a16"}],"state":"open","locked":false,"assignee":{"login":"ban-masa","id":14898742,"avatar_url":"https://avatars.githubusercontent.com/u/14898742?v=3","gravatar_id":"","url":"https://api.github.com/users/ban-masa","html_url":"https://github.com/ban-masa","followers_url":"https://api.github.com/users/ban-masa/followers","following_url":"https://api.github.com/users/ban-masa/following{/other_user}","gists_url":"https://api.github.com/users/ban-masa/gists{/gist_id}","starred_url":"https://api.github.com/users/ban-masa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ban-masa/subscriptions","organizations_url":"https://api.github.com/users/ban-masa/orgs","repos_url":"https://api.github.com/users/ban-masa/repos","events_url":"https://api.github.com/users/ban-masa/events{/privacy}","received_events_url":"https://api.github.com/users/ban-masa/received_events","type":"User","site_admin":false},"milestone":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/milestones/15","html_url":"https://github.com/start-jsk/jsk_apc/milestones/0.4:%20New%20Gripper%20Stable%20Grasping","labels_url":"https://api.github.com/repos/start-jsk/jsk_apc/milestones/15/labels","id":1733533,"number":15,"title":"0.4: New Gripper Stable Grasping","description":"","creator":{"login":"knorth55","id":9300063,"avatar_url":"https://avatars.githubusercontent.com/u/9300063?v=3","gravatar_id":"","url":"https://api.github.com/users/knorth55","html_url":"https://github.com/knorth55","followers_url":"https://api.github.com/users/knorth55/followers","following_url":"https://api.github.com/users/knorth55/following{/other_user}","gists_url":"https://api.github.com/users/knorth55/gists{/gist_id}","starred_url":"https://api.github.com/users/knorth55/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/knorth55/subscriptions","organizations_url":"https://api.github.com/users/knorth55/orgs","repos_url":"https://api.github.com/users/knorth55/repos","events_url":"https://api.github.com/users/knorth55/events{/privacy}","received_events_url":"https://api.github.com/users/knorth55/received_events","type":"User","site_admin":false},"open_issues":2,"closed_issues":25,"state":"open","created_at":"2016-04-27T08:08:31Z","updated_at":"2016-05-12T08:52:25Z","due_on":"2016-05-10T15:00:00Z","closed_at":null},"comments":2,"created_at":"2016-05-12T08:50:39Z","updated_at":"2016-05-12T09:49:40Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/pulls/1448","html_url":"https://github.com/start-jsk/jsk_apc/pull/1448","diff_url":"https://github.com/start-jsk/jsk_apc/pull/1448.diff","patch_url":"https://github.com/start-jsk/jsk_apc/pull/1448.patch"},"body":"When placing an object in order bin, the gripper servo is always powered on. But if the object is very heavy, gripper servo is overloaded when gripper direction and gravity direction aren't the same while bringing the object.\r\nThis PR will fix this using `:gripper-servo-off` in `:move-arm-body->order-bin` and `:gripper-servo-on` in `:spin-off-by-wrist`"},"comment":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/comments/218710789","html_url":"https://github.com/start-jsk/jsk_apc/pull/1448#issuecomment-218710789","issue_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1448","id":218710789,"user":{"login":"ban-masa","id":14898742,"avatar_url":"https://avatars.githubusercontent.com/u/14898742?v=3","gravatar_id":"","url":"https://api.github.com/users/ban-masa","html_url":"https://github.com/ban-masa","followers_url":"https://api.github.com/users/ban-masa/followers","following_url":"https://api.github.com/users/ban-masa/following{/other_user}","gists_url":"https://api.github.com/users/ban-masa/gists{/gist_id}","starred_url":"https://api.github.com/users/ban-masa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ban-masa/subscriptions","organizations_url":"https://api.github.com/users/ban-masa/orgs","repos_url":"https://api.github.com/users/ban-masa/repos","events_url":"https://api.github.com/users/ban-masa/events{/privacy}","received_events_url":"https://api.github.com/users/ban-masa/received_events","type":"User","site_admin":false},"created_at":"2016-05-12T09:49:40Z","updated_at":"2016-05-12T09:49:40Z","body":"+1"}}