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xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
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How to add custom gripper using API #225

Closed Akumar201 closed 1 month ago

Akumar201 commented 2 months ago

Hi, I wanted to know how can I add custom gripper to the arm using API, as I am using API to control the arm I want to use custom gripper with it , how can I do that. In addition to this how can I move the frame of reference to the TCP of gripper instead of arm TCP. Any help would be appreciated.

Thank You

penglongxiang commented 2 months ago

Hi, you mentioned using the API, are you referring to xArm python SDK? And by "add custom gripper to the arm" did you mean adding it to self-collision model or how to control it using the end-tool comminication (RS-485)?

Akumar201 commented 2 months ago

I am referring to XArm API in C++ , Yes, I mean I want to add it to self-collision model, so I have written the code in XArm C++ API , but there are few fixed things around the arm and I want to avoid it while using Online Trajectory planning

penglongxiang commented 2 months ago

Hi, please go to the C++ SDK doc and check the set_collision_tool_model API, currently we did not support custom 3D mesh file, only approximated cylinder and cubic model. Also, there is currently no way to configure a surrounding environment in our SDK, you may try it with ROS.

Akumar201 commented 1 month ago

This issue has been resolved if the problem persist feel free to reopen it .