{"action":"created","issue":{"url":"https://api.github.com/repos/JenniferBuehler/gazebo-pkgs/issues/9","repository_url":"https://api.github.com/repos/JenniferBuehler/gazebo-pkgs","labels_url":"https://api.github.com/repos/JenniferBuehler/gazebo-pkgs/issues/9/labels{/name}","comments_url":"https://api.github.com/repos/JenniferBuehler/gazebo-pkgs/issues/9/comments","events_url":"https://api.github.com/repos/JenniferBuehler/gazebo-pkgs/issues/9/events","html_url":"https://github.com/JenniferBuehler/gazebo-pkgs/issues/9","id":225072897,"number":9,"title":"Object not getting attached to Robotiq 2 fingered gripper","user":{"login":"akashpatil92","id":13637043,"avatar_url":"https://avatars3.githubusercontent.com/u/13637043?v=4","gravatar_id":"","url":"https://api.github.com/users/akashpatil92","html_url":"https://github.com/akashpatil92","followers_url":"https://api.github.com/users/akashpatil92/followers","following_url":"https://api.github.com/users/akashpatil92/following{/other_user}","gists_url":"https://api.github.com/users/akashpatil92/gists{/gist_id}","starred_url":"https://api.github.com/users/akashpatil92/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/akashpatil92/subscriptions","organizations_url":"https://api.github.com/users/akashpatil92/orgs","repos_url":"https://api.github.com/users/akashpatil92/repos","events_url":"https://api.github.com/users/akashpatil92/events{/privacy}","received_events_url":"https://api.github.com/users/akashpatil92/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":17,"created_at":"2017-04-28T12:57:16Z","updated_at":"2018-02-27T02:05:18Z","closed_at":null,"author_association":"NONE","body":"Hello @JenniferBuehler  I tried using your plugin for my setup of UR5 arm with Robotiq 2 fingered gripper for grasping cube of 50 mm length and breadth with no success on Gazebo 2 since I have ROS Indigo installed.\r\nHere is my Plugin config settings.Kindly guide me through the same\r\n\r\n<gazebo>\r\n   <plugin name=\"gazebo_grasp_fix\" filename=\"libgazebo_grasp_fix.so\">\r\n        <arm>\r\n           <arm_name>ur5</arm_name>\r\n           <palm_link>  robotiq_85_left_inner_knuckle_link </palm_link>\r\n           <palm_link>  robotiq_85_right_knuckle_link </palm_link>\r\n           <gripper_link> robotiq_85_right_finger_tip_link </gripper_link>\r\n           <gripper_link> robotiq_85_left_finger_tip_link </gripper_link>\r\n        </arm>\r\n       <forces_angle_tolerance>100</forces_angle_tolerance>\r\n       <update_rate>10</update_rate>\r\n       <grip_count_threshold>10</grip_count_threshold>\r\n       <max_grip_count>20</max_grip_count>\r\n       <release_tolerance>0.005</release_tolerance>\r\n       <disable_collisions_on_attach>true</disable_collisions_on_attach>\r\n       <contact_topic>__default_topic__</contact_topic>\r\n    </plugin>\r\n</gazebo>"},"comment":{"url":"https://api.github.com/repos/JenniferBuehler/gazebo-pkgs/issues/comments/368720890","html_url":"https://github.com/JenniferBuehler/gazebo-pkgs/issues/9#issuecomment-368720890","issue_url":"https://api.github.com/repos/JenniferBuehler/gazebo-pkgs/issues/9","id":368720890,"user":{"login":"JenniferBuehler","id":12842634,"avatar_url":"https://avatars3.githubusercontent.com/u/12842634?v=4","gravatar_id":"","url":"https://api.github.com/users/JenniferBuehler","html_url":"https://github.com/JenniferBuehler","followers_url":"https://api.github.com/users/JenniferBuehler/followers","following_url":"https://api.github.com/users/JenniferBuehler/following{/other_user}","gists_url":"https://api.github.com/users/JenniferBuehler/gists{/gist_id}","starred_url":"https://api.github.com/users/JenniferBuehler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/JenniferBuehler/subscriptions","organizations_url":"https://api.github.com/users/JenniferBuehler/orgs","repos_url":"https://api.github.com/users/JenniferBuehler/repos","events_url":"https://api.github.com/users/JenniferBuehler/events{/privacy}","received_events_url":"https://api.github.com/users/JenniferBuehler/received_events","type":"User","site_admin":false},"created_at":"2018-02-27T02:05:18Z","updated_at":"2018-02-27T02:05:18Z","author_association":"OWNER","body":"In the second screenshot it shows that the object was attached, but then got detached soon after. The arm was moving according to the printed warnings about dropped trajectory point(s)? Could it be that the motion planner avoids collisions with objects, is aware of the gripped object, and therefore doesn't grip it tight enough so that there are brief moments of non-contact where the gripper opens slightly?\r\n\r\nThe plugin releases the object as soon as there are no two opposing forces by grippers applied to the object any more for some time. The attachment itself is working according to the output so your robot links are configured properly for the plugin. But it looks like the criterion to drop the object is achieved probably too soon. You could try to adjust ``max_grip_count`` and increase ``release_tolerance`` (both described on [the wiki](https://github.com/JenniferBuehler/gazebo-pkgs/wiki/The-Gazebo-grasp-fix-plugin) so the releasing doesn't happen too soon.\r\nLet me know if that helps.\r\n"}}
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