Custom Vacuum Gripper

Python Programming
1

Hi everyone,

I am trying to build a simple custom vacuum gripper using a cylinder, a RaycastSensor, and a Python Script.
My goal is to grab a part when a Boolean Signal (“Grasp Signal”) is set to True.

My Component Structure:

  • Zylinder 6 (Root)
    • Behaviors
      • PythonScript
      • Grasp Signal (Boolean)
      • RaycastSensor

I have connected the signal to the script, but I keep running into API issues regarding the RaycastSensor attributes.

Here is my code:

from vcScript import *

def OnSignal(signal):
if signal.Name == “Grasp Signal”:
if signal.Value == True:
grab()
else:
release()

def grab():
comp = getComponent()
sensor = comp.findBehaviour(“RaycastSensor”)

if not sensor:
print(“Error: Sensor not found”)
return

THIS IS WHERE IT FAILS:

I tried accessing the detected part, but I get errors.

try:
part = sensor.TriggeredComponent
if part:
comp.attach(part)
print("Attached: " + part.Name)
except:
print(“Error accessing TriggeredComponent”)

def release():
comp = getComponent()
for child in comp.ChildComponents:
comp.detach(child)

The Error Message:
When I trigger the signal manually, the Output panel shows:
“NameError: Attribute or method ‘TriggeredComponent’ not found.”

I also tried accessing sensor.Signal or sensor.Component, but I get similar “Attribute not found” errors.
The RaycastSensor itself is found by findBehaviour, but I cannot access the detected object.

Does anyone know the correct API attribute to get the detected part from a RaycastSensor in my version?
Any help is appreciated!

Versuch 5 if.vcmx (277.0 KB)

2

Hello Eseier,
you can find the Documentation for the RaycastSensor on this page vcBehaviour if you just press CTRL + F and search for Raycast you should find it. I think in your case to access the Component you want to use the following Code:

sensor.ComponentSignal.Value

Hope this helps.

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