Create New Gripper Model

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zhy149
Posts: 71
Joined: 14 Apr 2021, 20:18

Create New Gripper Model

Post by zhy149 »

Hello,

How can I create a new gripper model on my own and then import it to Coppelia? Besides, is there any way that I can change the original Coppelia gripper model like robotiq-85? What I want to do now is to change the length of the gripper finger tip only, thank you very much!

coppelia
Site Admin
Posts: 8724
Joined: 14 Dec 2012, 00:25

Re: Create New Gripper Model

Post by coppelia »

Hello,

that model is pretty complex, but you can modify everything as it pleases you. Simply open the hierarchy tree for the model, and inspect how it is built. But beware, there are many loop closures, etc. It is really not a model for beginners. Maybe the easiest in your situation would be to add a cuboid [Menu bar --> add --> Primitive shape --> ...] attached to a force sensor, to each finger tip:

ROBOTIQ_85_LfingerTip --> forceSensorLeft --> cuboidLeft

and

ROBOTIQ_85_RfingerTip --> forceSensorRight --> cuboidRight

Make sure that the cuboids are dynamically enabled and visible, and that they do not collide with the finger they are attached to (or adjust their respondable masks).

Building a gripper from scratch is also possible, best is probably to follow the tutorial about building a clean simulation model.

Cheers

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