Rotation of the RG2 Gripper

[alix]

Hi,

I am doing motion planning with Jaco and RG2 gripper. Jaco's arm reaches the target but then I want to rotate the gripper so I can have accurate gripping of the object to be picked. How can I do that rotation of the gripper ???
Thanks

[coppelia]

Hello,

what about simply adjusting the position of the robot's last joint, while keeping the other joints fixed?

Cheers

[alix]

Hello,

what about simply adjusting the position of the robot's last joint, while keeping the other joints fixed?

Cheers

Hi Coppelia,
I tried doing that using "sim.SetJointTargetPosition" as joints are in torque/force mode. But it rotates end effector, but does not change the angle of the gripper, and as the end-effector part rotates it goes away from the target.
Maybe I am not using the correct word here, what I want to do is to just change the angle of the gripper, like it can turn from vertical to horizontal and horizontal to vertical.

[coppelia]

It is difficult to visualize what is going on. Can you post a simplified, self-contained scene that illustrates your problem?

Cheers