Instruct the robot to move towards a given target
Actuator capable of grabbing objects marked with the Graspable Game Property. Currently it only works using services: grab and release. When instructed to grab an object, it will check if it is within range, and if so, will parent the grabbed object to itself.
For objects to be detected and grabbed by the gripper, they must have the following settings in the Physics Properties panel:
- Actor must be checked
- Collision Bounds must be checked
- Physics Type must be Rigid Body
This will work even for Static objects
This actuator does not simulate the physical interaction of the gripper fingers with the objects it grabs. Its purpose is to abstract the action of taking an object, for human-robot interaction experiments.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
Aperture angle of the radar capable to detecting the graspable objects (in degree)
Detection distance in meter. Graspable objects further way from the gripper than this distance cannot be held
This actuator reads these datafields at each simulation step:
Currently not used
Returns the properties of a component.
a dictionary of the current component’s properties
Modify one property on a component
Tries to grab an object close to the gripper.
if successful (or if an object is already in hand), the name of the object, else None.
Free the grabbed object.
Let it fall down after resetting its rotation. Does nothing if no object is held.
True if an object has been released, else False (if no object was held).
Returns the configurations of a component (parsed from the properties).
a dictionary of the current component’s configurations
The following examples show how to use this component in a Builder script:
from morse.builder import * # adds a default robot (the MORSE mascott!) robot = Morsy() # creates a new instance of the actuator gripper = Gripper() # place your component at the correct location gripper.translate(<x>, <y>, <z>) gripper.rotate(<rx>, <ry>, <rz>) robot.append(gripper) # define one or several communication interface, like 'socket' gripper.add_interface(<interface>) env = Environment('empty')