Open karanchahal opened 1 month ago
I don't think you can control the gripper_left and gripper_right independently because the gripper itself cannot control both these joints independently. You can only send a "POSITION REQUEST". Refer page 42 of this manual
Instead you can control the "finger_joint" mentioned in the urdf through task constructor as shown below.
auto move_to_close = std::make_unique<mtc::stages::MoveTo>("move to", std::make_shared<mtc::solvers::JointInterpolationPlanner>());
move_to_close->setGroup(arm_group_name);
move_to_close->setGoal({{"finger_joint", 0.623}});
In order to this you also have to specify a srdf file. I have attached the urdf, srdf, launch and task_constructor files for reference. This was tested on a real life 2F-140. And I was able to open and close the gripper.
Hello,
Thanks for this package, how would we use this driver and it's low level fuctions like.
like
set_gripper_position
function in the driver, through the move it task constructor interface ofjoint interpolation is not a thing in the real robotiq driver, so I guess how would move it task constructor plumb a position control + velocity / force command ?