The calibration of gripper contains three steps (all instructions are written for
r1_gripper, but are equivalent for
- Position Calibration: This is done by calling a service with ROS name
r1_gripper/CalibratePosition. This calibration opens the gripper and detects its open position.
- Force Calibration: This is done by calling the
r1_gripper/CalibrateForceservice. This calibrates the tactile feedback for use of force control.
- Light and Proximity Calibration: This is done by calling the
r1_gripper/CalibrateAmbientProximityservice. This calibrates the detection of cloth.
The status of the calibration can be monitored by subscribing to the