Rack and pinion gripper with articulation controller

Omniverse Isaac Sim
,
1

I am trying to make a gripper with the rack and pinion joint, there will be two opposing fingers to grip objects. I know I could use two linear actuators and just control them separately but my real robot has a rack and pinion setup. I have tried the rack and pinion joint but it says it’s not allowed to be part of an articulation chain(there is an articulation root on the robot). Is there any good way around this?

Thanks in advance!

2

Yes, you should be able to exclude the joint from the articulation, on the rack and pinion joint check the exclude from articulation boolean to True.

Regards,
Ales

3

How can I set joint position of the rack-gear joint or gear joint? Currently, I must exclude the joint from the articulation and I can not control it. Thank you!!

4

You should be able to set the localPose0/1 for those joints.