RQ 0-255 vs RQ 0-100%

abeachy_HG24

I use the 0-255 position of the gripper quite frequently in my programs to determine if that part is the correct size, and I was wondering if there was anyway to have the 0-255 appear in the UR cap instead of the 0-100%? With the UR cap being in percent, it is more time consuming to determine the 0-255 position.

PierreOlivier_Proulx

@abeachy_HG24 I assume that with the old package, you would take the position value in the gripper toolbar and write it directly in your program as the object's width expectation. This is not possible with the URCap. However, what I suggest is that in your program you put that line of code after the Gripper Close instruction:

textmsg(rq_current_pos())

This will output in Polyscope's log the value of the gripper position. After you can easily look at the log and decide by which values the object's width is bounded.

abeachy_HG24

That is correct, with the old package I would look at the toolbar and write into my program. What I do now is I assign "rq_current_pos()" to a variable and place it after the gripper close and I set the program up so the robot grips and picks up and then releases the part, and I watch the variable on the variable tab. So I found a work around, and it's not a problem. It is just more time consuming than before.

Etienne_Samson

@abeachy_HG24 you could also keep using the classic instructions, check out the bottom of section 4.8.2 of the manual. You have access to a set of commands with the classic 0 to 255 and a set of "normalized" commands with 0-100% ( rq_current_pos_norm() ) . I'll see if we could also provide a conversion formula as it is not exactly a cross-multiplication.

Samuel_Bouchard

@Ryan_Weaver were you aware of that rq_current_pos_norm() variable? Makes it easier to relate what you see in the gripper toolbar and use it in your program conditions.

PierreOlivier_Proulx

Look at the file gripper_tutorial.urp in the /program folder. It contains all the useful urscript functions to control the gripper. Note that this file is overwritten each time Polyscope starts so don't ever save your work under that file name.

abeachy_HG24

@Etienne_Samson that is how I am doing it currently. I'm using those classic commands to obtain the position of the gripper and to perform some gripper moves while the robot is travelling. Maybe it's not possible or useful to anyone but me, but if there was a way to toggle between the percent and the 0-255 in the toolbar that would be really helpful.

PierreOlivier_Proulx

@abeachy_HG24 I will log that as a desirable feature.