Postby randusr » Mon Feb 05, 2018 4:11 pm
Hi,
the function-definitions in ci_footbot_gripper_actuator.h allow only for manipulating the gripper lock state.
My problem is the following: As soon as the gripper orientation (realtive to the robot) is altered (for example by draging a cylinder) the robot cannot grab another object, because I don't know how to get the current position of the whole gripper.
At the beginning of each simulation, the gripper is aligned with the robots wheels (0°) and thus in a defined state. But if the orientation of the gripper changes by, for example 170° relative to the robot base (so nearly at the back of the robot), I cannot find a function to check or set the grippers orientation.
In the argos-gripping-example this is not a problem, because the robot does not change its orientation relative to the cylinder and thus the gripper is still at the front, when the footbot releases the cylinder.
Could you point out to me how to overcome this problem?
I already tried the CGripperEquippedEntity.GetDirection() function. But it always returns a CVector::X.