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How to detect if claw has gripped an object

Posted: 25 Jul 2017, 05:10
by anandsaha
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

Re: How to detect if claw has gripped an object

Posted: 25 Jul 2017, 21:02
by coppelia
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