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Rotation of the RG2 Gripper
Posted: 27 Nov 2019, 16:41
by 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
Re: Rotation of the RG2 Gripper
Posted: 27 Nov 2019, 20:05
by coppelia
Hello,
what about simply adjusting the position of the robot's last joint, while keeping the other joints fixed?
Cheers
Re: Rotation of the RG2 Gripper
Posted: 28 Nov 2019, 11:13
by alix
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.
Re: Rotation of the RG2 Gripper
Posted: 02 Dec 2019, 10:03
by coppelia
It is difficult to visualize what is going on. Can you post a simplified, self-contained scene that illustrates your problem?
Cheers