While planning by preset position "grasp", gripper looks a bit off

[artemiialessandrini]

I'm connecting real Robotiq85 with a Moveit!, gripper works well, thanks to your package, but Moveit! one looks like this:

Is there any mistakes or that's how it is supposed to work?
I added finger_joint as an active as you can see, others are passive.

[majiqiang]

你好，我的那个手爪跟你的很像，目前想要在graspit里面做仿真，但是存在平行四边形结构，如何生成robot.xml文件呀，求指教！
可不可以发一下你的robot描述文件呢?谢谢啦！

[Danfoa]

@artemiialessandrini That is definitely an issue but I am not quite sure whether is only a visualization issue of the target position as a robot_state message, or the planning of trajectories is being done also with this malformed robot state, which will then cause malfunction of collision checking.

I did experience this issue before, but I think I already solve it. Let me have a look at it and understand if it is a problem of how you configure your gripper group on Moveit or something else.

[Danfoa]

@artemiialessandrini Indeed I had the same issue, but it is rather a problem of how you set up your gripper group on moveit.

Try setting up the group and passive links like in the image and let me know if it works for you.

PS: In my robot configuration I have two grippers, so please ignore the right_gripper joints and the left_gripper prefix before the usual joint names.

Moveit setup assistant - Passive joints section

Moveit setup assistant - Planning groups section - Example configuration of C3 group config