Gripper Calibration

The calibration of gripper contains three steps (all instructions are written for r1_gripper, but are equivalent for r2_gripper):

  • 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/CalibrateForce service. This calibrates the tactile feedback for use of force control.
  • Light and Proximity Calibration: This is done by calling the r1_gripper/CalibrateAmbientProximity service. This calibrates the detection of cloth.

The status of the calibration can be monitored by subscribing to the r1_gripper/MotorStatus message.