Caveat - I’m using an RG6, with Polyscope 5.12 and OnRobot URCap v 5.17, so there may be some differences . . . .
If you actually grab the cube with the gripper, click the UR+ icon & check to see what the gripper thinks that dimension is:
Here I’m showing 83.7mm on mine:
If it’s not close to the actual dimension of the part, then you should probably adjust the Fingertip offset in the URCap setup:
Once the fingertip offset is correct, you can play with the target dimension in the 2FG Grip node - I think it should be slightly smaller than the actual part dimension.
I grab my ring shaped parts primarily by the inside, but occasionally by the outside, and have specially configured fingers to do that. This means I can end up with some large offsets.
I uses scripts for most of the gripping actions, but they’re not much different than just using the nodes - biggest thing is that I have an offset from the actual part dimension, which combines with the fingertip offset to tell the gripper where to go- if I changed the fingertip offset I might have to change the formulae below:
def Grip_ID():
ID_grip=(ID_inches*25.4)-5
rg_grip(ID_grip,30,depth_comp=True)
end
def Grip_OD():
OD_grip = OD_inches*25.4 + 40
rg_grip(OD_grip,30,depth_comp=True)
end
def RG6Open(x):
#x_mm = x*25.4
rg_grip(x, 30, depth_comp=False)
end