How to detect if claw has gripped an object

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anandsaha
Posts: 2
Joined: 22 Jul 2017, 17:52

How to detect if claw has gripped an object

Post by anandsaha » 25 Jul 2017, 05:10

Hi,

I am experimenting with 'uarm with gripper' and trying to control it with the python client apis.

How do I detect (without getting into positional calculations) if the claw has grasped the object or not? Is there a client API which would give me this information?

I see there there is an 'uarmGripper_auxJoint4' which is at the center of the claw. Is there something that can be done with this?

Basically I want a boolean output suggesting whether object X has been grasped by the claw, or not.

Any pointers will be helpful.

Thanks,
Anand

coppelia
Site Admin
Posts: 6136
Joined: 14 Dec 2012, 00:25

Re: How to detect if claw has gripped an object

Post by coppelia » 25 Jul 2017, 21:02

Hello Anand,

you have several possibilities. For instance, you can check the position of the gripping joint. Or you can check if the sensor uarmGripper_fakeGrippingSensor is detecting something.

Cheers

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