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.

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

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:

NameInclusionTypeDescription
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, navigate to the Control tab and select the dropdown panel dedicated to the gripper. Use the buttons to open and close the gripper.

The gripper component in the control tab


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