URSim with Robotiq URcap

Erik_Cornelsen

Hi, 
Does anyone know why in my example I'm not able to save the actions of the gripper on URSim?
They stay in yellow and I cannot run the program.
Thanks
Erik 

Erik_Cornelsen

vlastimil

My historical experience, unless something has changed, is that if the Gripper is not physically connected, it is impossible to work with it in the simulator. Therefore, I was forced to create a set of scripting functions, which I bypassed this offline programming, bellow is an example
If I working in URSim, set:

isGripperSim = True

It may not be the best solution, but so far I can do it :-(

  def GripperReset(id="1"):
      if (isGripperSim):
           return True
      end
      rq_reset(id)
      rq_activate_and_wait(id)
  end
  
  def GripperActivate(id="1"):
      if (isGripperSim):
    	   return True
      end
      rq_activate_and_wait(id)
  end
  
  def GripperKeep(id="1", no=1):
      if (isGripperSim):
	    return no==1
      end
      return rq_is_object_detected(id)
  end
  
  def GripperClose(id="1", pspeed=100, pforce=100):
      if (isGripperSim):
            return True
      end
      rq_set_force_norm(pspeed, id)
      rq_set_speed_norm(pforce, id)
      rq_close_and_wait(id)
  end
  
  def GripperOpen(id="1", pspeed=100, pforce=100):
      if (isGripperSim):
    	    return True
      end
      rq_set_force_norm(pspeed, id)
      rq_set_speed_norm(pforce, id)
      rq_open_and_wait(id)
  end
  
  def GripperMove(id="1", pmm=0, pspeed=100, pforce=100):
      if (isGripperSim):
    	    return True
      end
      rq_set_force_norm(pforce, id)
      rq_set_speed_norm(pspeed, id)
      rq_move_and_wait_norm(pmm, id)
  end

Erik_Cornelsen

thanks @vmracko
could you please share a photo from the screen with a simple program?

vlastimil

Hi, here is very simple implemenatation:


It is also possible to add a function for controlled opening in millimeters:

  def GripperMove(id="1", pmm=0, pspeed=100, pforce=100):
      if (isGripperSim):
    	   return True
      end
      rq_set_force_norm(pforce, id)
      rq_set_speed_norm(pspeed, id)
      rq_move_and_wait_norm(pmm, id)
  end

Erik_Cornelsen

thanks @vmracko, great job!
If I understood correctly, in this case you are using an external Script to simulate the functions of the gripper?
Is not possible to use the built in functions from the URCaps then (even for other products)? 

vlastimil

Yes, external script is loaded in BeforStart section a each function, which started with "rq_" are used from URCaps from Robotiq driver installation.
Similar steps you can use in case of other product supported by URCaps.

Erik_Cornelsen

Hi @vmracko,

I tried to run a simple example but it's giving these errors.
Also with this can we use the built in functions from the gripper URCap rather than from the script, such as Gripper Move, Gripper Check, etc?

thanks

vlastimil

Sorry, in first post function GripperMove is included in external script, check it and remove one declaration: "def GripperMove(..):".
Functions from the URCaps menu, as shown in the figure, you cannot use, if you want to run the program in URSim, you only have to use the functions from the script.
Unfortunately, this is a tax for running the program offline :-(.

vlastimil

Of course there is a simple way to do it ...

Erik_Cornelsen

Thanks @vlastik
but in this example, are you still able to Run? in other words, does the Gripper Move command becomes white instead of yellow?

vlastimil

Yes, in this case you have to make command "Gripper Move" on real robot with connected gripper - not on URSim.