#319 Draft gripper model for Stage v3

Release-3.0
closed-out-of-date
Stage (103)
5
2009-06-23
2008-08-17
Jimmy Peng
No

This patch contains a draft version of the gripper model that works with Stage v3. An example is included, please see gripper.inc for more details of how the gripper works.

Here is a quick video showing it in action:
http://www.youtube.com/watch?v=lPhMP5XZOes

The current version uses the testCollision method for detecting objects between the pads, however this is not very accurate such that it detects a collision even when the object is far away and currently there are problems running the gripper model in some worlds. This is to be investigated further.

To use the gripper you must first attach the gripper interface in the *.cfg file.

driver

(
name "stage"
provides ["position2d:0" "gripper:0"]
model "r0"
)

Then in the *.world file, include the gripper.inc

include "gripper.inc"

Then attach the gripper onto the robot like so, this is where you should specify the initial height of the gripper which is at 0%.

define autorob fancypioneer2dx
(
color "red"
ubergripper(pose [ 0.280 0.000 0.000 0.000 ])
)

Current working methods that can be called on the gripper are:
* Close()
* Open()
* MoveToHeight(100) - As a percentage 0 to 100, 100 = maximum height set previously. 0 = The initial height.

For more details on the gripper parts and how to set the maximum height, please see gripper.inc

Nick Wong & Jimmy Peng

Discussion

  • Brian Gerkey

    Brian Gerkey - 2008-08-17
    • labels: 680444 --> Stage
    • assigned_to: gerkey --> rtv
     
  • Toby Collett

    Toby Collett - 2008-08-25

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    Can you attach a diff using 'svn diff' rather than the source tarball, this makes it much easier to apply the changes as SVN trunk changes.

     
  • Jimmy Peng

    Jimmy Peng - 2008-08-26

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    File Added: gripper_patch.tar.gz

     
  • Jimmy Peng

    Jimmy Peng - 2008-08-26

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    Added a diff patch.
    This patch will patch player-rev6982, stage-rev6943 to include the new gripper model and fix some of the collision detection.
    More details on how to apply the patch can be found in the readme file.

     
  • Jimmy Peng

    Jimmy Peng - 2008-08-27

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    File Added: gripper_patch.tar.gz

     
  • Toby Collett

    Toby Collett - 2008-08-27

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    Between player 1.6 and 2.x a decision was made to remove the height motions commands from the gripper interface. The idea being that instead the gripper would be responsible simply for the open/close operations etc and that the lifting motion would be handled by an actarray device.

    I have been working on a simple actuator model for stage, which would suit this quite well. I will submit the current version as a patch shortly, have a look and see if it useful.

     
  • Toby Collett

    Toby Collett - 2008-08-27

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    actarray patch is 2079258

     
  • Toby Collett

    Toby Collett - 2009-01-04
    • milestone: --> Release-3.0
     
  • Toby Collett

    Toby Collett - 2009-06-23
    • status: open --> closed-out-of-date
     

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