I am searching for a working example of a gripper that can hold an object in Gazebo / Gazebo Classic. The example should ideally:
- use a 1-DOF gripper with two fingers where one is mimicked
- use Python for controlling
- use only minimal number of libraries
ros2_control, however the Humble version has problems with effort-based control and mimicked fingers.
- following Gazebo Tutorial: Make a Simple Gripper, however I could not hold the object, it slips.
Slipping objects from the gripper in Gazebo seem to be a popular problem and I found some workarounds that basically attach the object/s to the gripper (vacuum or two fingers):
- IFRA Link Attacher
- Gazebo Grasp Fix — here is a ROS1 video tutorial that uses it
- Code from a competition named ARIAC
There is also an alternative approach that periodically sets the position of the object to make the object seem fixed.
I don't want to overcomplicate the project using extra Gazebo workaround code.
Finally Moveit2 contains a pick and place example, however this is based on C++.
Do you know a minimal basic example project of a gripper holding an object that meets my expectations?