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Feature vacuum suction device (#6127)
* Add new vacuum suction device * Synch with webots_ros * Fix documentation failures * Fix some issues and add test * Various fixes * Fix issues * Fix ROS server name * Fix issues * Synch with webots_ros * Rename device * Synch with webots_ros * Update Makefile * Update Makefile * Remove debug changes and fix indentation * Cleanup * Remove scale field * Add contactPoints field * Adjust sample simulation * Update WRL file * Synch webots_ros * Update docs/reference/vacuumgripper.md Co-authored-by: Olivier Michel <[email protected]> * Update docs/reference/vacuumgripper.md Co-authored-by: Olivier Michel <[email protected]> * Update lib/controller/python/controller/vacuum_gripper.py Co-authored-by: Olivier Michel <[email protected]> * Update Parser.js * Update documentation * Connect to the static environment * Update docs/reference/vacuumgripper.md Co-authored-by: Olivier Michel <[email protected]> * Add VacuumGripper to WbConcreteNodeFactory::createCopy * Remove randomness from controller * Fix sample world name and use same perspective as other sample worlds * Improve sample simulation * Disable slider move * Improve search for parent solid with physics * Complete test * Fix indent * Add entry in ChangeLog * Improve search for ODE body * Fix new method * Fix ODE include * Update projects/samples/devices/worlds/vacuum_gripper.wbt Co-authored-by: Olivier Michel <[email protected]> --------- Co-authored-by: Olivier Michel <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| ## Vacuum Gripper | ||
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| Derived from [Device](device.md) and [Solid](solid.md). | ||
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| ``` | ||
| VacuumGripper { | ||
| SFBool isOn FALSE # {TRUE, FALSE} | ||
| SFFloat tensileStrength -1 # {-1, [0, inf)} | ||
| SFFloat shearStrength -1 # {-1, [0, inf)} | ||
| SFInt32 contactPoints 3 # [1, inf) | ||
| } | ||
| ``` | ||
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| ### Description | ||
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| The [VacuumGripper](#vacuum-gripper) node is used to simulate physical links created by vacuum suction. | ||
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| The physical connection can be created and destroyed at run time by the robot's controller. | ||
| The [VacuumGripper](#vacuum-gripper) node can connect to dynamic [Solid](solid.md) nodes, e.g., for pick and place operations, as well as to the static environment, e.g., for locomotion. | ||
| Then, the detection of the presence of an object to connect to is based on collision detection. | ||
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| ### Field Summary | ||
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| - `isOn`: represents the state of the [VacuumGripper](#vacuum-gripper). | ||
| The state can be changed through the `wb_vacuum_gripper_turn_on` and `wb_vacuum_gripper_turn_off` API functions. | ||
| The *on state* just means that the suction pump is active, but it does not indicates whether or not an actual physical link exists with an object. | ||
| The actual physical link exists only if a valid [Solid](solid.md) object collided with the [VacuumGripper](#vacuum-gripper) after the `wb_vacuum_gripper_turn_on` function was called. | ||
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| > **Note**: | ||
| If the `VacuumGripper` node is on in the .wbt file and a valid [Solid](solid.md) node is available, then the simulation will automatically connect to the [Solid](solid.md) object. | ||
| You can take advantage of this feature to start your simulation with the desired mechanical configuration. | ||
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| - `tensileStrength`: maximum tensile force in *newton* [N] that the suction mechanism can withstand before it breaks. | ||
| This can be used to simulate the rupture of the suction mechanism. | ||
| The tensile force corresponds to a force that pulls the two objects apart (in the negative *x*-axes direction). | ||
| When the tensile force exceeds the tensile strength, the link breaks. | ||
| The default value -1 indicates an infinitely strong suction mechanism that does not break no matter how much force is applied. | ||
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| - `shearStrength`: indicates the maximum shear force in *newtons* [N] that the suction mechanism can withstand before it breaks. | ||
| This can be used to simulate the rupture of the suction mechanism. | ||
| The `shearStrength` field specifies the ability of the suction mechanism to withstand a force that would makes them slide against each other in opposite directions (in the *yz*-plane). | ||
| The default value -1 indicates an infinitely strong suction mechanism that does not break no matter how much force is applied. | ||
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| - `contactPoints`: indicates the minimum number of contact points with the [Solid](solid.md) object required to connect. | ||
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| ### VacuumGripper Functions | ||
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| #### `wb_vacuum_gripper_enable_presence` | ||
| #### `wb_vacuum_gripper_disable_presence` | ||
| #### `wb_vacuum_gripper_get_presence_sampling_period` | ||
| #### `wb_vacuum_gripper_get_presence` | ||
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| %tab-component "language" | ||
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| %tab "C" | ||
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| ```c | ||
| #include <webots/vacuum_gripper.h> | ||
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| void wb_vacuum_gripper_enable_presence(WbDeviceTag tag, int sampling_period); | ||
| void wb_vacuum_gripper_disable_presence(WbDeviceTag tag); | ||
| int wb_vacuum_gripper_get_presence_sampling_period(WbDeviceTag tag); | ||
| bool wb_vacuum_gripper_get_presence(WbDeviceTag tag); | ||
| ``` | ||
| %tab-end | ||
| %tab "C++" | ||
| ```cpp | ||
| #include <webots/VacuumGripper.hpp> | ||
| namespace webots { | ||
| class VacuumGripper : public Device { | ||
| virtual void enablePresence(int samplingPeriod); | ||
| virtual void disablePresence(); | ||
| int getPresenceSamplingPeriod() const; | ||
| bool getPresence() const; | ||
| // ... | ||
| } | ||
| } | ||
| ``` | ||
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| %tab-end | ||
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| %tab "Python" | ||
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| ```python | ||
| from controller import VacuumGripper | ||
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| class VacuumGripper (Device): | ||
| def enablePresence(self, samplingPeriod): | ||
| def disablePresence(self): | ||
| def getPresenceSamplingPeriod(self): | ||
| def getPresence(self): | ||
| # ... | ||
| ``` | ||
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| %tab-end | ||
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| %tab "Java" | ||
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| ```java | ||
| import com.cyberbotics.webots.controller.VacuumGripper; | ||
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| public class VacuumGripper extends Device { | ||
| public void enablePresence(int samplingPeriod); | ||
| public void disablePresence(); | ||
| public int getPresenceSamplingPeriod(); | ||
| public boolean getPresence(); | ||
| // ... | ||
| } | ||
| ``` | ||
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| %tab-end | ||
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| %tab "MATLAB" | ||
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| ```MATLAB | ||
| wb_vacuum_gripper_enable_presence(tag, sampling_period) | ||
| wb_vacuum_gripper_disable_presence(tag) | ||
| period = wb_vacuum_gripper_get_presence_sampling_period(tag) | ||
| presence = wb_vacuum_gripper_get_presence(tag) | ||
| ``` | ||
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| %tab-end | ||
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| %tab "ROS" | ||
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| | name | service/topic | data type | data type definition | | ||
| | --- | --- | --- | --- | | ||
| | `/<device_name>/presence` | `topic` | `webots_ros::BoolStamped` | [`Header`](http://docs.ros.org/api/std_msgs/html/msg/Header.html) `header`<br/>`bool data` | | ||
| | `/<device_name>/presence_sensor/enable` | `service` | [`webots_ros::set_int`](ros-api.md#common-services) | | | ||
| | `/<device_name>/presence_sensor/get_sampling_period` | `service` | [`webots_ros::get_int`](ros-api.md#common-services) | | | ||
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| %tab-end | ||
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| %end | ||
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| ##### Description | ||
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| *detect the presence of a connected object* | ||
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| The `wb_vacuum_gripper_enable_presence` function starts querying the presence of a linked [Solid](solid.md) object. | ||
| The `sampling_period` argument specifies the sampling period of the presence sensor. | ||
| It is expressed in milliseconds. | ||
| Note that it will be active only after the first sampling period elapsed. | ||
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| The `wb_vacuum_gripper_disable_presence` function stops querying the presence sensor of a linked [Solid](solid.md) object. | ||
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| The `wb_vacuum_gripper_get_presence_sampling_period` function returns the period at which the presence sensor of the linked [Solid](solid.md) object is queried. | ||
| The `wb_vacuum_gripper_get_presence` function returns the current *presence* state, it returns *TRUE* if a [Solid](solid.md) object is connected and *FALSE* otherwise. | ||
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| --- | ||
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| #### `wb_vacuum_gripper_turn_on` | ||
| #### `wb_vacuum_gripper_turn_off` | ||
| #### `wb_vacuum_gripper_is_on` | ||
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| %tab-component "language" | ||
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| %tab "C" | ||
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| ```c | ||
| #include <webots/vacuum_gripper.h> | ||
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| void wb_vacuum_gripper_turn_on(WbDeviceTag tag); | ||
| void wb_vacuum_gripper_turn_off(WbDeviceTag tag); | ||
| bool wb_vacuum_gripper_is_on(WbDeviceTag tag); | ||
| ``` | ||
| %tab-end | ||
| %tab "C++" | ||
| ```cpp | ||
| #include <webots/VacuumGripper.hpp> | ||
| namespace webots { | ||
| class VacuumGripper : public Device { | ||
| virtual void turnOn(); | ||
| virtual void turnOff(); | ||
| virtual bool isOn() | ||
| // ... | ||
| } | ||
| } | ||
| ``` | ||
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| %tab-end | ||
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| %tab "Python" | ||
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| ```python | ||
| from controller import VacuumGripper | ||
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| class VacuumGripper (Device): | ||
| def turnOn(self): | ||
| def turnOff(self): | ||
| def isOn(self): | ||
| # ... | ||
| ``` | ||
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| %tab-end | ||
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| %tab "Java" | ||
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| ```java | ||
| import com.cyberbotics.webots.controller.VacuumGripper; | ||
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| public class VacuumGripper extends Device { | ||
| public void turnOn(); | ||
| public void turnOff(); | ||
| public boolean isOn(); | ||
| // ... | ||
| } | ||
| ``` | ||
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| %tab-end | ||
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| %tab "MATLAB" | ||
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| ```MATLAB | ||
| wb_vacuum_gripper_turn_on(tag) | ||
| wb_vacuum_gripper_turn_off(tag) | ||
| on = wb_vacuum_gripper_is_on(tag) | ||
| ``` | ||
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| %tab-end | ||
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| %tab "ROS" | ||
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| | name | service/topic | data type | data type definition | | ||
| | --- | --- | --- | --- | | ||
| | `/<device_name>/turn_on` | `service` | [`webots_ros::set_bool`](ros-api.md#common-services) | | | ||
| | `/<device_name>/is_on` | `service` | [`webots_ros::get_bool`](ros-api.md#common-services) | | | ||
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| %tab-end | ||
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| %end | ||
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| ##### Description | ||
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| *create / destroy the physical connection wit a solid object* | ||
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| The `wb_vacuum_gripper_turn_on` and `wb_vacuum_gripper_turn_off` functions can be used to activate or deactivate the [VacuumGripper](#vacuum-gripper) suction pump and changing the status of the `isOn` field. | ||
| This will eventually create or destroy the physical connection with a [Solid](solid.md) object. | ||
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| If dynamic [Solid](solid.md) object collides with the [VacuumGripper](#vacuum-gripper) while the device is on, a physical link will be created between the [VacuumGripper](#vacuum-gripper) and the [Solid](solid.md) object. | ||
| The two connected bodies will then keep a constant distance and orientation with respect to each other from this moment on. | ||
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| If the `wb_vacuum_gripper_turn_off` function is invoked while there is a physical link between the [VacuumGripper](#vacuum-gripper) and a [Solid](solid.md) object, the link will be destroyed. |
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