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 click Create component.
Select the gripper
type, then select the softrobotics
model.
Enter a name for your gripper and click Create.
Copy and paste the following attribute template into your gripper’s Attributes box. Then remove and fill in the attributes as applicable to your gripper, according to the table below.
{
"board": "<your-board-name>",
"open": "<pin-number-on-board>",
"close": "<pin-number-on-board>",
"power": "<pin-number-on-board>",
"analog_reader": "psi"
}
{
"board": "local",
"open": "11",
"close": "13",
"power": "15",
"analog_reader": "psi"
}
{
"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:
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" . |
Test the gripper
After you configure your gripper, navigate to the Control tab and select the dropdown panel dedicated to the gripper. Use the buttons to open and close the gripper.

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