HI guys!
I want to control a gripper attacks to the end effector of UR5. I move the ur5 with IK. I have 2 question:
1)What kind of API i have to use to open or close the gripper?
2) this Api can I put In the same child script where I control the dummy target and where I subscribe from a ROS node?
Thanks all!!
Gripper control
Re: Gripper control
Hello,
it depends on your type of gripper, and how you have modelled it. But in the end, there is probably a joint that is in charge for the opening/closing. Depending on the joint mode, you can use
Cheers
it depends on your type of gripper, and how you have modelled it. But in the end, there is probably a joint that is in charge for the opening/closing. Depending on the joint mode, you can use
sim.setJointTargetVelocity or sim.setJointTargetPosition (probably the former). And yes, you can use those API functions basically from any script in the scene.Cheers