Simulating under actuated mico gripper
Posted: 08 Sep 2017, 10:11
Hello,
I am trying to use mico arm for grasping. The current mico gripper simulation does not imitate the real mico gripper. See images in the doc shared below:
https://docs.google.com/document/d/15p4 ... sp=sharing
Because of this, I am not able to grasp objects less than 7cm in diameter in simulation while real mico arm can grasp objects as small as 5.5 cm in diameter.
The problem seems to be the one active and one passive finger joint in real mico arm while 2 active finger joints in simulated mico gripper. I tried changing the motor (MicoHand_fingers12_motor2) to passive but still could not get the desired behaviour. Can you please help me with getting the same behaviour from simulated mico gripper as real mico gripper.
For testing, you can look at the sample scene provided for grasping using mico and jaco arms by vrep (motionPlanningAndGraspingDemo.ttt)
Thanks.
Neha
I am trying to use mico arm for grasping. The current mico gripper simulation does not imitate the real mico gripper. See images in the doc shared below:
https://docs.google.com/document/d/15p4 ... sp=sharing
Because of this, I am not able to grasp objects less than 7cm in diameter in simulation while real mico arm can grasp objects as small as 5.5 cm in diameter.
The problem seems to be the one active and one passive finger joint in real mico arm while 2 active finger joints in simulated mico gripper. I tried changing the motor (MicoHand_fingers12_motor2) to passive but still could not get the desired behaviour. Can you please help me with getting the same behaviour from simulated mico gripper as real mico gripper.
For testing, you can look at the sample scene provided for grasping using mico and jaco arms by vrep (motionPlanningAndGraspingDemo.ttt)
Thanks.
Neha