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The following diagram is an example of a 4-channel suction-cup gripper with its corresponding gripper.json file. The different colors indicate different groups of suction cups that can be controlled together.
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Example gripper.json file
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{
"name": "4-channel gripper",
"description": "test gripper for multiple product sizes"
"dimensions": {
"width": 400,
"length": 200,
"height": 150,
"weight": 1.9,
"foamHeight": 15
},
"properties": {
"coveragePercent": 51,
"edgeAlignment": false
},
"tcp": [0, 0, 150, 0, 0, 0],
"cog": [0, 0, 0],
"zones": [
{
"id": 1,
"x": 0,
"y": 0,
"width": 110,
"length": 180,
"grip": {
"type": "standard",
"channel": 0,
"inverse": false
},
"release": {
"type": "standard",
"channel": 1
}
},
{
"id": 2,
"x": -110,
"y": 0,
"width": 50,
"length": 180,
"grip": {
"type": "standard",
"channel": 2
},
"release": {
"type": "standard",
"channel": 3
}
},
{
"id": 3,
"x": 110,
"y": 0,
"width": 50,
"length": 180,
"grip": {
"type": "standard",
"channel": 4
},
"release": {
"type": "standard",
"channel": 5
}
},
{
"id": 4,
"x": 0,
"y": 0,
"width": 380,
"length": 50,
"grip": {
"type": "standard",
"channel": 6
},
"release": {
"type": "standard",
"channel": 7
}
}
],
"configurations": [
[1,2,3,4], [4], [1,2,3], [1,2], [2,3], [1], [2], [3]
]
}
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