Isaac Sim Version
4.0.0
Operating System
Ubuntu 22.04
GPU Information
- Model: RTX 6000 ADA
- Driver Version: 550.120
Topic Description
Detailed Description
Hi I’m trying to attach UR5e robot with Robotiq 2F85 gripper and make articulations happen together under a single robot. I tried the robot assembler tool but it is not working as expected to produce the desired change, and what i found to work is to model the gripper as a force driven grasp based on this tutorial:
and create a fixed joint between robotiq gripper and tool 0 of UR5e usd. Now the problem comes when I’m first trying to tune the robot for stable behavior together with the gripper. I’ve played around with values and it seems the gripper max force if it exceeds 10N it goes on and rotates the wrist 3 joint as well (modelling as target_velocity from tutorial) a guide on how to tune this value to get maximum force the gripper could exert while having stable behavior as usual for UR robot would help. I also found that when articulation is running I’m not able to use Gain tuner for either the robot or the gripper (sinusoid tuning).