search

axkoenig / reflex_stack

A software stack to simulate the Reflex TakkTile robotic hand in Gazebo
MIT License
1 stars 0 forks source link

Combine KUKA + reflex gripper #1

Closed irfanrah closed 2 years ago

irfanrah commented 2 years ago

Hi, your code is really great.

I'm trying to combine robot arm (KUKA) https://github.com/CesMak/kuka_arm with your code. But it's still not working, If there any inspiration or help I'm really appreciate that. Thank you very much.

axkoenig commented 2 years ago

Hi there, glad you like the code! I haven't used the mentioned package. At first glance, this package looks like a controller for robot arms. If you're only working in simulation, you should be able to stick the two robot descriptions (arm+hand) in a common URDF (preferably through xacro) and start up the two simulators using a launch file. You won't need the wrist_controller node of the reflex_stack anymore because your hand is now pose controlled through the robot arm which you are simulating. Let me know if you have any specific questions and I might be able to help. Cheers, Alex

irfanrah commented 2 years ago

Thank you for your quick response, Will surely do that !