Examples

Both examples use a Franka arm with a Robotiq 2F-85 gripper and prescribed joint targets. Build them, then run them from the repository root.

Peg insertion

./build/examples/peg_insertion

The gripper grasps and lifts a round peg from a tray, then inserts it into a closely fitting hole. Contact occurs between the fingers and peg during transport and between the peg and fixture during insertion.

The peg uses a custom rounded signed distance field (SDF). The tray and hole use separate visual and collision meshes. The source defines the SDF, robot actuators, and time-based controller.

See peg_insertion.cpp for the complete model and controller.

Gear assembly

./build/examples/gear_assembly

The gripper places the middle gear on its shaft, releases and grasps it again, then turns it in both directions. The bore contacts the shaft while the teeth contact the adjacent gears, constraining the moving gear at several locations.

All three gears use a parameterized gear-with-hub SDF; the base and shafts use mesh collision geometry. The SDF represents the teeth, bore, and hub in one object.

See gear_assembly.cpp for the complete model and controller.

Simulation settings

The controllers follow prescribed joint targets; they do not plan the assembly motion.