realvirtual.Gripper Class Reference

Gripper component providing complete gripping functionality for robotic pick-and-place operations. More...

Inheritance diagram for realvirtual.Gripper:

Public Member Functions
void	GripperClose ()
void	Stop ()
void	GripperOpen ()
Public Member Functions inherited from realvirtual.BehaviorInterface
new List< BehaviorInterfaceConnection >	GetConnections ()
	Returns a list of behavior interface connections for this component.
new List< Signal >	GetSignals ()
	Returns a list of connected signals for this component.
Public Member Functions inherited from realvirtual.realvirtualBehavior
void	PreStartSim ()
	Is called by the realvirtualController before the component is started.
void	StartSim ()
	Is called by the realvirtualController to start or stop the component.
void	StopSim ()
Vector3	DirectionToVector (DIRECTION direction)
	Transfers the direction enumeration to a vector.
DIRECTION	VectorToDirection (bool torotatoin, Vector3 vector)
	Transfers a vector to the direction enumeration.
float	GetLocalScale (Transform thetransform, DIRECTION direction)
List< BehaviorInterfaceConnection >	UpdateConnectionInfo ()
List< Signal >	GetConnectedSignals ()
void	SetVisibility (bool visibility)
	Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnection >	GetConnections ()
List< Signal >	GetSignals ()
GameObject	GetChildByName (string name)
	Gets a child by name.
List< GameObject >	GetChildsByName (string name)
	Gets all child by name.
GameObject	GetChildByNameAlsoHidden (string name)
List< GameObject >	GetAllMeshesWithGroup (string group)
List< GameObject >	GetAllWithGroup (string group)
List< GameObject >	GetAllWithGroups (List< string > groups)
List< GameObject >	GetAllMeshesWithGroups (List< string > groups)
List< string >	GetMyGroups ()
List< GameObject >	GetMeshesWithSameGroups ()
List< GameObject >	GetAllWithSameGroups ()
MeshRenderer	GetMeshRenderer ()
	Gets the mesh renderers in the childrens.
void	SetCollider (bool enabled)
	sets the collider in all child objects
void	ErrorMessage (string message)
	Displays an error message.
void	ChangeConnectionMode (bool isconnected)
void	Log (string message)
	Logs a message.
void	Log (string message, object obj)
	Logs a message with a relation to an object.
void	Warning (string message, object obj)
	Logs a warinng with a relation to an object.
void	Error (string message, object obj)
	Logs an error with a relation to an object.
void	Error (string message)
	Logs an error.
GameObject	DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale)
	Displays a gizmo for debugging positions.
void	SetFreezePosition (bool enabled)
	Freezes all child components to the current poosition.
void	SetRbConstraints (RigidbodyConstraints constraints)
virtual void	AwakeAlsoDeactivated ()

Public Attributes
GameObject	LeftFinger
	Reference to the left finger GameObject.
GameObject	RightFinger
	Reference to the right finger GameObject.
float	TimeOpening
	Time in seconds for opening the gripper.
float	TimeClosing
	Time in seconds for closing the gripper.
float	GripperWidth
	Maximum gripper width in millimeters.
float	OpenPosOffset
	Offset position in millimeters when gripper is open.
Vector3	DirectionFinger
	Direction vector for finger movement.
Vector3	DirectionClosing
	Direction vector for closing movement.
bool	FullyClosed
	True when gripper is fully closed.
bool	Close
	Set to true to close the gripper.
bool	Closing
	True while gripper is closing.
bool	FullyOpened
	True when gripper is fully opened.
bool	Open
	Set to true to open the gripper.
bool	Opening
	True while gripper is opening.
bool	MUIsGripped
	True when an MU is gripped.
MU	GrippedMU
	Reference to the currently gripped MU.
PLCOutputBool	CloseGripper
	PLC output signal to close the gripper.
PLCOutputBool	OpenGripper
	PLC output signal to open the gripper.
PLCInputBool	IsClosing
	PLC input signal indicating gripper is closing.
PLCInputBool	IsOpening
	PLC input signal indicating gripper is opening.
PLCInputBool	IsFullyOpened
	PLC input signal indicating gripper is fully opened.
PLCInputBool	IsFullyClosed
	PLC input signal indicating gripper is fully closed.
bool	usefingers
Public Attributes inherited from realvirtual.BehaviorInterface
List< BehaviorInterfaceConnection >	ConnectionInfo
Public Attributes inherited from realvirtual.realvirtualBehavior
string	Name
	The name of the component if it should be different from the GameObject name.
ActiveOnly	Active
GameObject	FromTemplate
realvirtualController	realvirtualController
bool	HideNonG44Components
bool	SceneIsAdditive
bool	ForceStop

Additional Inherited Members
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly {   Always , Connected , Disconnected , Never ,   DontChange }
Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool	DirectionIsLinear (DIRECTION direction)
	Gets back if the direction is linear or a rotation.
Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool	hidename ()
bool	hideactiveonly ()
virtual void	OnStopSim ()
virtual void	OnPreStartSim ()
virtual void	OnStartSim ()
MU	GetTopOfMu (GameObject obj)
	Gets the top of an MU component (the first MU script going up in the hierarchy)
void	InitGame4Automation ()
	Initialiates the components and gets the reference to the realvirtualController in the scene.
virtual void	AfterAwake ()
void	Awake ()
Properties inherited from realvirtual.ISignalInterface
GameObject	gameObject [get]

Detailed Description

Gripper component providing complete gripping functionality for robotic pick-and-place operations.

The Gripper component is a sophisticated tool for simulating industrial gripping mechanisms in realvirtual, offering realistic finger movement control and intelligent collision-based gripping. It provides a complete solution for pick-and-place operations, automatically managing finger positions, detecting contact with MUs, and maintaining secure grips during transport operations. The component simulates real-world gripper behavior including opening/closing times, maximum aperture, and contact-based stopping for safe material handling.

Key Features:

• Automatic finger movement with configurable opening/closing speeds
• Intelligent collision detection for contact-based gripping
• Dual finger control with synchronized movement
• Raycast-based MU detection for precise gripping
• Automatic stop-on-contact to prevent over-gripping
• Support for fingerless grippers using raycast detection
• Real-time status monitoring (opening, closing, fully opened, fully closed)
• Integrated Grip component for MU attachment management

Common Applications:

• Robotic end-of-arm tooling (EOAT) simulation
• Pneumatic and servo-electric gripper modeling
• Pick-and-place robot systems
• Automated assembly operations
• Material handling and packaging systems
• Quality inspection and sorting stations
• Collaborative robot (cobot) applications

Operating Principles: The Gripper operates by controlling two finger GameObjects that move symmetrically along defined direction vectors. When closing, the fingers move inward until they contact an MU or reach their fully closed position. Upon contact detection via raycast sensing, the gripper automatically stops closing and secures the MU using the integrated Grip component. The opening process releases any gripped MUs and returns the fingers to their fully open position. The component supports both manual control through Inspector properties and automated control via PLC signals.

Finger Configuration: The component automatically locates finger GameObjects named "Left" and "Right" in its children, or custom finger objects can be assigned. For special cases without physical fingers, the gripper can operate in raycast-only mode, simulating magnetic or vacuum grippers. The finger movement is calculated based on the GripperWidth parameter and follows the DirectionClosing vector for precise control over gripper geometry.

Integration Points: The Gripper seamlessly integrates with realvirtual's automation ecosystem through PLC signal interfaces (PLCOutputBool for commands, PLCInputBool for status), the Sensor system for MU detection, and the Grip component for attachment management. It can be controlled by robot controllers, PLC programs, or scripted automation sequences, providing flexible integration options for various simulation scenarios.

Performance Considerations: The component uses efficient raycast detection limited to specific layers (rvMU, rvMUSensor) to minimize performance impact. Finger movements are calculated in FixedUpdate for smooth, deterministic motion synchronized with Unity's physics system. The automatic stop-on-contact feature prevents unnecessary calculations once gripping is achieved, optimizing runtime performance.

Status and Feedback: The Gripper provides comprehensive status information including current state (opening, closing), position status (fully opened, fully closed), and grip status (MUIsGripped). These status flags can be monitored through Inspector properties or transmitted to PLC systems via signal interfaces, enabling closed-loop control and monitoring in automated systems.

For detailed documentation and examples, visit: https://doc.realvirtual.io/components-and-scripts/gripper

Member Data Documentation

Close

bool realvirtual.Gripper.Close

Set to true to close the gripper.

CloseGripper

PLCOutputBool realvirtual.Gripper.CloseGripper

PLC output signal to close the gripper.

Closing

bool realvirtual.Gripper.Closing

True while gripper is closing.

DirectionClosing

Vector3 realvirtual.Gripper.DirectionClosing

Direction vector for closing movement.

DirectionFinger

Vector3 realvirtual.Gripper.DirectionFinger

Direction vector for finger movement.

FullyClosed

bool realvirtual.Gripper.FullyClosed

True when gripper is fully closed.

FullyOpened

bool realvirtual.Gripper.FullyOpened

True when gripper is fully opened.

GrippedMU

MU realvirtual.Gripper.GrippedMU

Reference to the currently gripped MU.

GripperWidth

float realvirtual.Gripper.GripperWidth

Maximum gripper width in millimeters.

IsClosing

PLCInputBool realvirtual.Gripper.IsClosing

PLC input signal indicating gripper is closing.

IsFullyClosed

PLCInputBool realvirtual.Gripper.IsFullyClosed

PLC input signal indicating gripper is fully closed.

IsFullyOpened

PLCInputBool realvirtual.Gripper.IsFullyOpened

PLC input signal indicating gripper is fully opened.

IsOpening

PLCInputBool realvirtual.Gripper.IsOpening

PLC input signal indicating gripper is opening.

LeftFinger

GameObject realvirtual.Gripper.LeftFinger

Reference to the left finger GameObject.

MUIsGripped

bool realvirtual.Gripper.MUIsGripped

True when an MU is gripped.

Open

bool realvirtual.Gripper.Open

Set to true to open the gripper.

OpenGripper

PLCOutputBool realvirtual.Gripper.OpenGripper

PLC output signal to open the gripper.

Opening

bool realvirtual.Gripper.Opening

True while gripper is opening.

OpenPosOffset

float realvirtual.Gripper.OpenPosOffset

Offset position in millimeters when gripper is open.

RightFinger

GameObject realvirtual.Gripper.RightFinger

Reference to the right finger GameObject.

TimeClosing

float realvirtual.Gripper.TimeClosing

Time in seconds for closing the gripper.

TimeOpening

float realvirtual.Gripper.TimeOpening

Time in seconds for opening the gripper.