Rotation of the RG2 Gripper

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alix
Posts: 44
Joined: 17 Sep 2019, 14:48

Rotation of the RG2 Gripper

Post by alix » 27 Nov 2019, 16:41

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
Site Admin
Posts: 7450
Joined: 14 Dec 2012, 00:25

Re: Rotation of the RG2 Gripper

Post by coppelia » 27 Nov 2019, 20:05

Hello,

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

Cheers

alix
Posts: 44
Joined: 17 Sep 2019, 14:48

Re: Rotation of the RG2 Gripper

Post by alix » 28 Nov 2019, 11:13

coppelia wrote:
27 Nov 2019, 20:05
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
Site Admin
Posts: 7450
Joined: 14 Dec 2012, 00:25

Re: Rotation of the RG2 Gripper

Post by coppelia » 02 Dec 2019, 10:03

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

Cheers

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