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roboticslibrary / rl

The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
https://www.roboticslibrary.org/
BSD 2-Clause "Simplified" License
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Gripper Motion #79

Open lgzid opened 7 months ago

lgzid commented 7 months ago

Can rl handle gripper kinematics, such as the opening and closing of the gripper?

rickertm commented 6 months ago

RL can also be used to model gripper kinematics. The files in rl-examples include a robot model with two arms and hands (rlsg\mekabot-torso-rightarm-righthand-leftarm-lefthand.xml and rlmdl\mekabot-torso-rightarm-righthand-leftarm-lefthand.xml), but you can also model simpler gripper kinematics, e.g., parallel grippers.

For a parallel gripper, each finger can be modeled via a prismatic joint. You can then either set each gripper finger joint position separately or you can use the model's gammaPosition matrix to have the second joint follow the value of the first joint.

lgzid commented 6 months ago

Thanks!