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:
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.
provides ["position2d:0" "gripper:0"]
Then in the *.world file, include the 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
ubergripper(pose [ 0.280 0.000 0.000 0.000 ])
Current working methods that can be called on the gripper are:
* 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
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