Sorry to trouble you again. Today, I try to use moveit to control the new robot. But I find that it seems that the link link_gripper_s3_body has collision with the link ‘link_gripper_finger_right’ at the start state and the moveit group can not initialize the planning problem. As shown below:
Found a contact between ‘link_gripper_s3_body’ (type ‘Robot link’) and ‘link_gripper_finger_right’ (type ‘Robot link’), which constitutes a collision. Contact information is not stored. [ INFO] [1713143859.952075948, 420.239000000]: Collision checking is considered complete (collision was found and 0 contacts are stored) [ INFO] [1713143859.952094551, 420.239000000]: Start state appears to be in collision with respect to group stretch_arm
Do you know how to revise “link_gripper_s3_body” to avoid the collision and keep the urdf following the real robot? I have upload my urdf here GitHub - cyb1212/urdf: The used robot. I am using “urdf/xacro/stretch_description_SE3_eoa_wrist_dw3_tool_sg3.xacro” and its genrated urdf “urdf/xacro/stretch.urdf”.
I have found the error in the moveit setting. I forget to revise the srdf file to disable some collisions. The revised one is shown in the attached file. sg3_srdf.txt (38.6 KB)
Now the arm moves well. But the gripper still has some problems as shown:
[ WARN] [1713455386.102212327, 133.304000000]: Joint joint_gripper_finger_right is constrained to be above the maximum bounds. Assuming maximum bounds instead. [ INFO] [1713455386.102430759, 133.304000000]: Planner configuration ‘stretch_gripper[RRTConnect]’ will use planner ‘geometric::RRTConnect’. Additional configuration parameters will be set when the planner is constructed. [ERROR] [1713455386.102537626, 133.305000000]: OMPL encountered an error: The longest valid segment for state space stretch_gripper_JointModel must be positive. Space settings: ModelBasedStateSpace ‘stretch_gripper_JointModel’ at 0x7fe578015490
I manually dig a hole for the URDF, which make the robot gripper collision-free. The controller and moveit planer still do not work. Shows the same error. Could you offer me a new moveit configuration node for the new robot model?