main.cpp 中夹爪的角度怎么来的？

Suyixiu / robot_sim

A ROS based Open Source Simulation Environment for Robotics Beginners

228 stars 44 forks source link

Closed taoxiantong closed 2 years ago

taoxiantong commented 2 years ago

gripper_angle = 0.0033113173071797 * grasp_distance + 0.127363015998244;

上面这句怎了来的，我想着用仿真控制robotiq，但是只能控制关节，我想知道关节和robotiq的两个tip间的宽度对应关系。

Suyixiu commented 2 years ago

这个是我根据我用的这个爪子在这个仿真器里面抓东西的宽度来算出来的爪子闭合系数，抓得太紧东西会飞走