UR5 + Robotiq 2-Finger Gripper

Discussion in 'Modeling' started by Hauke Maier, Mar 2, 2020.

  1. Dear all,
    we have a problem by modelling a 2-Finger Gripper. There is a "Spring Link" to realize a parallel movement of the two fingers. These Spring Link can (somehow) not connected. Attached you can find the XML. Maybe someone has an idea.

    upload_2020-3-2_16-49-17.png
     

    Attached Files:

  2. Can you attach the full model?
     
  3. Attached Files:

  4. upload_2020-3-3_17-14-57.png

    You need to fix the position of the anchors (red balls), the position of the joints (they are off as well) as well as the joint ranges to obtain the desired behavior.
     
  5. Many thanks Florian. Nice to see where these coordinates are. Do you can share these visualization? Just to have an example making things transparent and so.
     
    Last edited: Mar 4, 2020
  6. This visualization is part of the simulate binary that comes with mujoco.