{"action":"closed","issue":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1430","repository_url":"https://api.github.com/repos/start-jsk/jsk_apc","labels_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1430/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1430/comments","events_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1430/events","html_url":"https://github.com/start-jsk/jsk_apc/issues/1430","id":154214663,"number":1430,"title":"[jsk_2016_01_baxter_apc] 新グリッパーの吸引パッドが潰れる","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"}],"state":"closed","locked":false,"assignee":{"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},"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":24,"state":"open","created_at":"2016-04-27T08:08:31Z","updated_at":"2016-05-12T08:41:56Z","due_on":"2016-05-10T15:00:00Z","closed_at":null},"comments":1,"created_at":"2016-05-11T10:53:07Z","updated_at":"2016-05-12T08:41:56Z","closed_at":"2016-05-12T08:41:56Z","body":"前々から問題になっているが、吸引パッドと物品の接触時に、吸引パッドの先端部分が内側に引き込まれ、物品をうまくつかめないことがある。\r\n\r\n吸引パッドを軽く押し付けてから吸引を始めるとうまくいくので、物品の座標にグリッパーを持ってきたあとで吸引を始めることで解消される場合が多いと思われる。\r\nとりあえずはこの解決策を試してみようと思っているが、物品が立ててある場合は倒してしまう可能性がある。"}}