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fix gripper-controller #161

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fix gripper-controller #161

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14 changes: 8 additions & 6 deletions dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface-common.l
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Original file line number Diff line number Diff line change
Expand Up @@ -100,8 +100,8 @@
)
(:default-controller
()
(send self :fullbody-controller)
;;(append (send self :fullbody-controller) (send self :gripper-controller))
;;(send self :fullbody-controller)
(append (send self :fullbody-controller) (send self :gripper-controller))
)
;; raw dynamixel command
;; TODO : define these methods by considering pr2eus?
Expand Down Expand Up @@ -166,8 +166,9 @@
(:start-grasp
(&optional (arm :arm) &key ((:gain g) 0.5) ((:objects objs) objects))
"Start grasp mode."
(send self :set-compliance-slope 7 1023)
(send self :set-torque-limit 7 g)
(unless (send self :simulation-modep)
(send self :set-compliance-slope 7 1023)
(send self :set-torque-limit 7 g))
(send robot :gripper arm :angle-vector
(send-all (send robot :gripper arm :joint-list) :min-angle))
(send self :angle-vector (send robot :angle-vector) 1000 :gripper-controller)
Expand All @@ -185,8 +186,9 @@
(send robot :gripper arm :angle-vector
(send-all (send robot :gripper arm :joint-list) :max-angle))
(send self :angle-vector (send robot :angle-vector) 1000 :gripper-controller)
(send self :set-compliance-slope 7 32)
(send self :set-torque-limit 7 1.0)
(unless (send self :simulation-modep)
(send self :set-compliance-slope 7 32)
(send self :set-torque-limit 7 1.0))
(send self :wait-interpolation :gripper-controller)
)
)
Expand Down