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Kinovarobotics / ros_kortex

ROS packages for KINOVA® KORTEX™ robotic arms
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Gripper joint positions/velocities #332

Closed Victeldo closed 3 weeks ago

Victeldo commented 3 months ago

I'm working on a sim-to-real project where I need to pass in the Kinova Gen 3's sensor data, which includes the gripper sensor data (Robot IQ 2f 85). I need to get the positions/velocities of each of the 6 joints of the gripper. However, via the 

rospy.wait_for_message("/" + self.robot_name + "/joint_states", JointState)

I'm only able to get just one position/velocity value, which I assume just represents the aperture size/speed of opening/closing. Is there a way to get what I need for my project?

martinleroux commented 1 month ago

Hi @Victeldo , The Gen3 only reports the position and velocity that you have found (it does represent the open/close state of the fingers, in %). There is no way to obtain the data you are looking for. I even think the gripper itself does not report all of these values.

aalmrad commented 3 weeks ago

This issue is closed due to inactivity, please feel free to reply to this thread to reopen.