EuRoC Forum

[lsusperregi]

Dear all,

We are using the SetObjectLoad service after picking the object before sending the place movement. Once the place is performed do we need to detach the object using this service or other?
Thank you,

[fschmidt]

the SetObjectLoad service directly influences the LWR's gravity compensation. a bad gravity compensation leads to bigger positioning errors of the LWR's joints.

you don't need to call SetObjectLoad to detach the object, but then the LWR will make bigger errors on following commanded paths.

to safely place an object you should slowly open the gripper (maybe in multiple steps) and wait atleast some short amount of time (0.25sim time) for the "gripper hack" to deactivate and the object to stabilize on the table.