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HALRobotics / Beta

HAL Robotics Framework beta release and associated documentation.
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Activate Robotiq Gripper #102

Closed sampson-young closed 1 year ago

sampson-young commented 3 years ago

Hi HAL,

I am using the same Robotiq 2F-140 gripper for a similar take/release operation as https://github.com/HALRobotics/Beta/issues/63. After following https://github.com/HALRobotics/Beta/discussions/84 this tutorial, I used the same format but couldn't export the same format code. I don't have the code of TakeObject() def TakeObject() : and ReleaseObject() def ReleaseObject() : (the pic below).

image

After I import this code to the UR10 robot, it can not read the code rq_move_and_wait_mm(1) and rq_move_and_wait_mm(40) in the controller. It seems to need a def code or something else to let the controller know I am operating the gripper.

Do you have any solution or idea about that? This is the file. take and release.zip

Many thanks.

Yang

tristangobin commented 1 year ago

Hi Yang,

The custom action rq_move_and_wait_mm(1) and rq_move_and_wait_mm(40) are specific to a controller and how gripper or other tools are integrated in your cell. You have to integrate your methods or you can use the build in components to set controller output signal and deal with how much time you need to wait for the gripper to close or open.

Usually integrator implement a set of methods on a controller and you can call them from the CustomAction component.

I hope it helps,

Kind regards