Gripper¶
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.
Note
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
Warning
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.
Configuration parameters for Gripper¶
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...)
.
Angle
(float, default:60.0
)- Aperture angle of the radar capable to detecting the graspable objects (in degree)
Distance
(float, default:0.5
)- Detection distance in meter. Graspable objects further way from the gripper than this distance cannot be held
Data fields¶
This actuator reads these datafields at each simulation step:
grab
(bool, initial value:False
)- Currently not used
Interface support:
socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as YarpReader (morse.middleware.yarp_datastream.YarpReader
)
Services for Gripper¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
grab()
(blocking)Tries to grab an object close to the gripper.
Return value
if successful (or if an object is already in hand), the name of the object, else None.
release()
(blocking)Free the grabbed object.
Let it fall down after resetting its rotation. Does nothing if no object is held.
Return value
True if an object has been released, else False (if no object was held).
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
Examples¶
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')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.gripper.)