The way the Pioneer gripper is handled is different now. The new gripper
interface is designed solely for controlling a gripper, rather than
being a direct implementation of the Pioneer gripper's control codes as
messages as it was before. This means the gripper interface can't be
used to raise or lower a gripper attached to a list. There are two
alternative interfaces that can be used to provide this functionality:
the position1d interface and the actarray interface.
The Pioneer driver uses the actarray interface. Other drivers may use
positio1d if it better suits their needs. If you look in the Pioneer
driver's documentation you will find details on how to use the gripper lift.
However, if, as your attachment suggests, you're using Stage, you may be
out of luck. I don't think they're implemented an actarray to control
the gripper lift yet.
Sanchit Sood wrote:
> I am trying to use a pioneer gripper to lift objects. I am able to hold
> the objects using the gripper, but can't find a way to lift the gripper.
> I tried adding another gripper with the first gripper as one of its
> forks. But then this fork does not move while the other one does. Is
> there any other way to lift the gripper?
> PS: Please find my gripper model and world file attached