Robotiq gripper gazebo model
Hi all,
I found in industrial stack/package a ROBOTIQ urdf model, but without a Gazebo description. Is such description exist? how can I create one?
Regards,
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Hi all,
I found in industrial stack/package a ROBOTIQ urdf model, but without a Gazebo description. Is such description exist? how can I create one?
Regards,
Hey,
We were in need of this model as well and started converting it to gazebo ourselves. You can do it yourself, following this tutorial: http://gazebosim.org/wiki/Tutorials/1...
Basically, you need to add <inertial> tags to all links. You need a little knowledge on urdf and xacro: http://wiki.ros.org/xacro</inertial>
You'll also want to represent the finger's underactuation somehow. A Gazebo plugin would be an option. You would have to determine the efforts for each finger phalanx based on their current state, the actuator effort, and the contact forces.
Hi,
I made a pull request to Robotiq which includes exactly what you specified. See the packages at https://github.com/TheDash/robotiq and look inside the robotiq_s_model_articulated_gazebo and run the launch file there. It includes full underactuation of joints and coupling, as well as commands to open and close gripper in simulation.
Asked: 2013-12-13 01:53:40 -0500
Seen: 1,398 times
Last updated: Jan 22 '15