Configure a Soft Robotics Gripper

The softrobotics model supports the Soft Robotics mGrip gripper controlled by the Soft Robotics coDrive Control Unit.

First, connect the gripper to your machine’s computer and turn it on. Then, configure the gripper:

Navigate to the CONFIGURE tab of your machine’s page in the Viam app. Click the + icon next to your machine part in the left-hand menu and select Component. Select the gripper type, then select the softrobotics model. Enter a name or use the suggested name for your gripper and click Create.

Creation of a softrobotics gripper component in the Viam app config builder.

Fill in the attributes as applicable to your gripper, according to the table below.

{
  "components": [
    {
      "name": "<your-gripper-name>",
      "model": "softrobotics",
      "type": "gripper",
      "namespace": "rdk",
      "attributes": {
        "board": "<your-board-name>",
        "open": "<pin-number-on-board>",
        "close": "<pin-number-on-board>",
        "power": "<pin-number-on-board>",
        "analog_reader": "psi"
      }
    }
  ]
}
{
  "components": [
    {
      "name": "local",
      "model": "pi",
      "type": "board",
      "namespace": "rdk",
      "attributes": {
        "analogs": [
          {
            "name": "psi",
            "pin": "32"
          }
        ]
      }
    },
    {
      "name": "my_gripper",
      "model": "softrobotics",
      "type": "gripper",
      "namespace": "rdk",
      "attributes": {
        "board": "local",
        "open": "11",
        "close": "13",
        "power": "15",
        "analog_reader": "psi"
      }
    }
  ]
}

The following attributes are available for softrobotics grippers:

NameRequired?TypeDescription
boardRequiredstringThe name of the board to which your gripper control unit is wired.
openRequiredstringThe pin number of the board pin wired to the open pin (D1) on the gripper controller.
closeRequiredstringThe pin number of the board pin wired to the close pin (D2) on the gripper controller.
powerRequiredstringThe pin number of the board pin wired to the enable pin (D3) on the gripper controller.
analog_readerRequiredstringMust be called "psi". You must configure an analog on your board and name it "psi".

Test the gripper

After you configure your gripper, open the gripper’s TEST panel on the CONFIGURE or CONTROL tabs. Use the buttons to open and close the gripper.

The gripper component in the test panel

Troubleshooting

If your gripper is not working as expected, follow these steps:

  1. Check your machine logs on the LOGS tab to check for errors.
  2. Review this gripper model’s documentation to ensure you have configured all required attributes.
  3. Click on the TEST panel on the CONFIGURE or CONTROL tab and test if you can use the gripper there.

If none of these steps work, reach out to us on the Community Discord and we will be happy to help.

Next steps

For more configuration and usage info, see:

Have questions, or want to meet other people working on robots? Join our Community Discord.

If you notice any issues with the documentation, feel free to file an issue or edit this file.