CoppeliaSim forums

Hi,
I am working with Jaco, trying to attach RG2 gripper to it, but it keeps on falling as the simulations start. If I make it static then it behaves oddly and the warning comes regarding a static object over the dynamic structure. But if I make RG2 dynamic it falls down.
Help me please !!!!

Hello,

do you have a force/torque sensor between the Jaco end-effector and the RG2 gripper?

Cheers

coppelia wrote: ↑27 Nov 2019, 14:48 Hello,

do you have a force/torque sensor between the Jaco end-effector and the RG2 gripper?

Cheers

Yes, I have force sensor, as here you can see in this screenshot https://ibb.co/j8WGJT6

coppelia wrote: ↑27 Nov 2019, 14:48 Hello,

do you have a force/torque sensor between the Jaco end-effector and the RG2 gripper?

Cheers

Hi Coppelia,
Can you also please tell me that can we make the opening and closing of RG2 gripper slower?

From the picture it looks ok. But it is just a picture. Please post the scene.
To make the gripper open/close slower/faster, adjust the variable motorVelocity in the child script attached to the gripper base.

Cheers

coppelia wrote: ↑27 Nov 2019, 20:08 From the picture it looks ok. But it is just a picture. Please post the scene.
To make the gripper open/close slower/faster, adjust the variable motorVelocity in the child script attached to the gripper base.

Cheers

Hi Coppelia,
Bundle of thanks for the help, it got resolved when I made the IKTip child of the RG2 gripper. I was unable to understand the logic, but it worked.
I have another question, I'll highly appreciate if you can help me, please. Like we have the scene "MotionPlanningandGrasping.ttt", in which Jaco arms reaches the target using OMPL. I want to know that suppose the Jaco is reaching the glass from left side in the scene, if I want to make it to reach same target but from right, or suppose from upside, from where in the code this can be modified or controlled? Does it have to do something with that Shift Operation?

I guess there are many ways to implement this. How this was implemented in the scene you mention is following:

• First, we try to reach an approach pose. This is typically a couple of centimeters away from the goal pose. This is handled via path planning functions. That approach pose is normally specified via a dummy's position and orientation. So changing that dummy's position and orientation will also change the approach pose.
• Next, we move in a straight line from the approach pose to the goal pose. This in handled via IK functions. There also, the goal pose is specified via a dummy, or via an offset value from the approach pose.

Cheers

coppelia wrote: ↑02 Dec 2019, 10:08 I guess there are many ways to implement this. How this was implemented in the scene you mention is following:

• First, we try to reach an approach pose. This is typically a couple of centimeters away from the goal pose. This is handled via path planning functions. That approach pose is normally specified via a dummy's position and orientation. So changing that dummy's position and orientation will also change the approach pose.
• Next, we move in a straight line from the approach pose to the goal pose. This in handled via IK functions. There also, the goal pose is specified via a dummy, or via an offset value from the approach pose.

Cheers

thanks a lot , i'll try it...