Control the franka gripper at the specified speed

Question

zichunxx opened this issue a year ago · 3 comments

Hi!

Is there any way to control the opening and closing speed of the gripper?

For now, all I know is to adjust the ctrlrange of the gripper through data.ctrl[:].

Thanks!

Answer 1 · 2023-10-09T01:50:49.000Z

You can, just switch the actuator for the gripper to velocity or intvelocity. See the documentation for more information.

Answer 2 · 2023-10-10T06:48:00.000Z

Thanks. Is there any relevant code to refer to adjust it via Python binding?

Answer 3 · 2023-10-13T14:53:42.000Z

No, since this changes the dimensionality of the state you have to do in in the XML.

That said, I think this feature would solve your problem? (define multiple kinds of actuators, activate/deactivate them at runtime)