Configure a Soft Robotics Gripper
The softrobotics
model supports the Soft Robotics mGrip gripper controlled by the Soft Robotics coDrive Control Unit.
Navigate to the Config tab of your robot’s page in the Viam app.
Click on the Components subtab and navigate to the Create component menu.
Enter a name for your gripper, select the type gripper
, and select the softrobotics
model.
Click Create component.
Edit and fill in the attributes as applicable.
{
"components": [
{
"name": "<your-gripper-name>",
"type": "gripper",
"model" : "softrobotics",
"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",
"type": "board",
"model": "pi",
"attributes": {
"analogs": [
{
"name": "psi",
"pin": "32"
}
]
}
},
{
"name": "my_gripper",
"type": "gripper",
"model" : "softrobotics",
"attributes": {
"board": "local",
"open": "11",
"close": "13",
"power": "15",
"analog_reader": "psi"
}
}
]
}
The following attributes are available for softrobotics
grippers:
Name | Inclusion | Type | Description |
---|---|---|---|
board | Required | string | The name of the board to which your gripper control unit is wired. |
open | Required | string | The pin number of the board pin wired to the open pin (D1) on the gripper controller. |
close | Required | string | The pin number of the board pin wired to the close pin (D2) on the gripper controller. |
power | Required | string | The pin number of the board pin wired to the enable pin (D3) on the gripper controller. |
analog_reader | Required | string | Must be called "psi" . You must configure an analog on your board and name it "psi" . |
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