Unresponsive gripper when attached to Robot

[La_Fayette]

I’m currently working on a project involving a robotic gripper that I’ve implemented in my simulation. But the gripper becomes unresponsive when it is attached to the tip of the robot.
When the gripper is detached from the robot, it operates as expected, it even reacts to the closing signal. However, when attached, the gripper fails to respond to the closing signal or the initialisation process.

I tried to attach a brand new gripper and it does not work either. I tried a new robot with a new gripper and it does work.

What may be heppening?

Here's the link to the simulation: https://drive.google.com/file/d/1q4Nj4K ... drive_link.

Thanks in advance.

[coppelia]

Hello,

make sure to attach the gripper to the connection force sensor. Then, your gripper is supposed to operate as a dynamic gripper. But since your robot model is tagged as non-dynamic, the gripper itself will not be dynamic either (the model tags influence all objects in the model tree).

Cheers

[La_Fayette]

Hi, thank you so much for your response,

I've attached the gripper to the robot and set the robot as dynamic. But now is the robot the one that doesn't move as it's expecting an inverse kinematics performace, which is weird since all its joints are set as dynamic...

Is there a way I could make the whole work?

I've updated the file: https://drive.google.com/file/d/1Crj_Vq ... drive_link
And here's my whole folder: https://drive.google.com/drive/folders/ ... drive_link

Hope it is a dumb fix again and I'm not being too fool or annoying.
Thanks in advance.

[coppelia]

not sure what is wrong exactly, since your scene is not self-sufficient as it seems. Just a few points:

• you haven't enabled the stepping mode. Make sure you do that at the beginning, so that you can run synchronously, otherwise you might run less than 1 movement step per simulation step. Just call sim.setStepping(true) as the very first instruction in sysCall_thread()
• When running in dyn. mode, joints can't immediately jump to the desired target position: it will take some time that depends on the dynamic settings (i.e. max. force/torque, max velocity)
• Often, you better run with FK instead of IK: IK is more meant when a linear trajectory is required, which is not the case in your situation. HAve a look how things have been set up in the demo scene (starting with V4.8) scenes/pathPlanning/simpleManipulatorPathPlanning.ttt

Cheers