ruby-player 0.2.0 → 0.3.0

data/NEWS.md

@@ -1,3 +1,8 @@
+## 2012-02-17 0.3.0
+
+* Method Position2d::position is renamed to Position2d::state. Position2d::position is deprecated
+* Added gripper interface
+
 ## 2012-02-16 0.2.0
 
 * Added power interface

data/README.md

@@ -11,6 +11,7 @@ API coverage
 The list of support objects and devices of Player.
 
 * Client object
+* Gripper
 * Position2d
 * Power
 * Ranger
@@ -30,7 +31,7 @@ Example
       pos2d.set_speed(vx: 1, vy: 0, va: 0.2)
       #main loop
       robot.loop do
-        puts "Position: x=%{px}, y=%{py}, a=%{pa}" % pos2d.position
+        puts "Position: x=%{px}, y=%{py}, a=%{pa}" % pos2d.state
         puts "Rangers: #{ranger.rangers}"
       end
     end

data/examples/simple_example.rb

@@ -4,7 +4,7 @@ Player::Client.connect("localhost") do |robot|
   ranger = robot.subscribe(:ranger)
   #main loop
   robot.loop(0.05) do
-    puts "Position: x=%{px}, y=%{py}, a=%{pa}" % pos2d.position
+    puts "Position: x=%{px}, y=%{py}, a=%{pa}" % pos2d.state
     r = ranger.rangers
     puts "Rangers: #{r}"
 

data/examples/world/test.cfg

@@ -12,7 +12,7 @@ driver
 driver
 (
   name "stage"
-  provides [ "position2d:0" "ranger:0" ]
+  provides [ "position2d:0" "ranger:0" "gripper:0"]
 
   model "bender"
 )

data/examples/world/test.world

@@ -54,6 +54,11 @@ define bender_ranger ranger
   )
 )
 
+define bender_gripper gripper
+(
+  size [0.5 0.5 0.5]
+)
+
 define bender2dx position
 (
   color "grey"
@@ -72,6 +77,12 @@ define bender2dx position
   drive "omni"
 
   bender_ranger()
+
+  bender_gripper
+  (
+    pose [0.8 0 -0.80 0]
+    color "blue"
+  )
   size [1 1 1]
 )
 
@@ -81,6 +92,14 @@ carton
   pose [ 3 0 0 0.0]
 )
 
+carton
+(
+  name "b1"
+  pose [1 1 0 0.0]
+  size [0.2 0.2 0.5]
+  
+)
+
 bender2dx
 (
   name "bender"

data/lib/ruby-player.rb

@@ -23,6 +23,7 @@ require "ruby-player/device"
 require "ruby-player/client"
 
 #interfaces
+require "ruby-player/gripper"
 require "ruby-player/position2d"
 require "ruby-player/power"
 require "ruby-player/ranger"

data/lib/ruby-player/common.rb

@@ -59,8 +59,30 @@ module Player
       ""
     end
 
+    def fill_hash!(hash, ary)
+      hash.keys.each do |k| 
+        if ary.empty?
+          break
+        else
+          hash[k] = ary.shift 
+        end
+      end
+    end
+
     def unexpected_message(hdr)
       warn "Get unexpection message type #{hdr.type_name}::#{hdr.subtype_name} for #@addr"
     end
+
+    def geom_to_s(geom)
+      "px=%.2f, py=%.2f, pz=%.2f, proll=%.2f, ppitch=%.2f, pyaw=%.2f, sw=%.2f, sl=%.2f, sh=%.2f" % geom.values
+    end
+
+    def pose_to_s(pose)
+      "px=%.2f, py=%.2f, pz=%.2f, proll=%.2f, ppitch=%.2f, pyaw=%.2f" % pose.values
+    end
+
+    def size_to_s(size)
+      "sw=%.2f, sl=%.2f, sh=%.2f" % size.values
+    end
   end
 end

data/lib/ruby-player/gripper.rb

@@ -0,0 +1,171 @@
+# Ruby Player - Ruby client library for Player (tools for robots) 
+#
+# Copyright (C) 2012  Timin Aleksey
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+module Player
+  # Gripper interface.
+  #
+  # The gripper interface provides access to a robotic gripper. 
+  # A gripper is a device capable of closing around and carrying an object 
+  # of suitable size and shape. On a mobile robot, a gripper is typically mounted near the floor on the front, 
+  # or on the end of a robotic limb. Grippers typically have two "fingers" that close around an object. i
+  # Some grippers can detect whether an objcet is within the gripper (using, for example, light beams). 
+  # Some grippers also have the ability to move the a carried object into a storage system, 
+  # freeing the gripper to pick up a new object, and move objects from the storage system back into the gripper.
+  class Gripper < Device
+    # The gripper interface returns the current state of the gripper 
+    # and information on a potential object in the gripper. 
+    #
+    # *:state* may be PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED, 
+    # PLAYER_GRIPPER_STATE_MOVING or PLAYER_GRIPPER_STATE_ERROR. 
+    #
+    # *:beams* provides information on how far into the gripper an object is. 
+    # For most grippers, this will be a bit mask, with each bit representing whether 
+    # a beam has been interrupted or not.
+    #
+    # *:stored* - Number of currently stored objects
+    #
+    # @return [Hash] { :state, :beams, :stored }
+    attr_reader :state
+
+
+    # Geometry data of gripper
+    #
+    # *:pose* - Gripper pose, in robot cs (m, m, m, rad, rad, rad). 
+    #
+    # *:outer_size* - Outside dimensions of gripper (m, m, m). 
+    #
+    # *:inner_size* - Inside dimensions of gripper, i.e. 
+    #
+    # *:number_beams* - Number of breakbeams the gripper has.
+    #
+    # *:capacity* - Capacity for storing objects - if 0, then the gripper can't store. 
+    #
+    # @return [Hash] { :pose => {:px,:py,:pz,:proll,:ppitch,:pyaw,
+    #   :outer_size => { :sw, :sl, :sh },
+    #   :inner_size => { :sw, :sl, :sh },
+    #   :number_beams, :capacity
+    #   }
+    attr_reader :geom
+
+    def initialize(addr, client)
+      super
+      @state = { state: PLAYER_GRIPPER_STATE_OPEN, beams: 0, stored: 0 }
+      @geom = {
+        pose: { px: 0.0, py: 0.0, pz: 0.0, proll: 0.0, ppitch: 0.0, pyaw: 0.0 },
+        outer_size: { sw: 0.0, sl: 0.0, sh: 0.0 },
+        inner_size: { sw: 0.0, sl: 0.0, sh: 0.0 },
+        number_beams: 0,
+        capacity: 0
+      }
+    end
+
+    # Query gripper geometry 
+    # @return self
+    def query_geom
+      send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_GET_GEOM)
+      self
+    end
+
+    # Check openinig
+    def open?
+      state[:state] & PLAYER_GRIPPER_STATE_OPEN > 0
+    end
+
+    # Check closing
+    def closed?
+      state[:state] & PLAYER_GRIPPER_STATE_CLOSED > 0
+    end
+    
+    # Check moving
+    def moving?
+      state[:state] & PLAYER_GRIPPER_STATE_MOVING > 0
+    end
+
+    # Check error
+    def error?
+      state[:state] & PLAYER_GRIPPER_STATE_ERROR > 0
+    end
+
+    # Tells the gripper to open
+    def open!
+      send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_OPEN)
+      self
+    end
+
+    # Tells the gripper to close
+    def close!
+      send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_CLOSE)
+      self
+    end
+    
+    # Tells the gripper to stop
+    def stop!
+      send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_STOP)
+      self
+    end
+
+    # Tells the gripper to store whatever it is holding.
+    def store!
+      send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_STORE)
+      self
+    end
+
+    # Tells the gripper to retrieve a stored object (so that it can be put back into the world).
+    # The opposite of store.
+    def retrieve!
+      send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_RETRIEVE)
+      self
+    end
+
+    def fill(hdr, msg)
+      case hdr.subtype
+      when PLAYER_GRIPPER_DATA_STATE
+        read_state(msg)
+      else
+        undexpected_message hdr
+      end
+    end
+
+    def handle_response(hdr, msg)
+      case hdr.subtype
+      when PLAYER_GRIPPER_REQ_GET_GEOM
+        read_geom(msg)
+      else
+        undexpected_message hdr
+      end
+    end
+
+    private
+    def read_state(msg)
+      fill_hash!(@state, msg.unpack("NNN"))
+      debug("Get gripper state state=%d, beams=%d, stored=%d" % @state.values)
+    end
+
+    def read_geom(msg)
+      data = msg.unpack("G12NN")
+      fill_hash!(@geom[:pose], data)
+      debug "Get gripper pose: " + pose_to_s(@geom[:pose])
+
+      fill_hash!(@geom[:outer_size], data)
+      debug "Get gripper outer size: " + size_to_s(@geom[:outer_size])
+
+      fill_hash!(@geom[:inner_size], data)
+      debug "Get gripper inner size: " + size_to_s(@geom[:inner_size])
+
+      @geom[:number_beams] = data.shift
+      @geom[:capacity] = data.shift
+      debug("Get number_beams=%{number_beams}, capacity=%{capacity}" % @geom)
+    end
+  end
+end

data/lib/ruby-player/position2d.rb

@@ -24,13 +24,13 @@ module Player
   #   #update data from server
   #   client.read!
   #   #read velocityand position by X,Y and angle
-  #   pos2d.position #=> { :px => 0.2321, :py => 0,01, :pa => 0.2, :vx => 1.2, :vy => 0.1, :va => 0.3, :stall => 1  }
+  #   pos2d.state #=> { :px => 0.2321, :py => 0,01, :pa => 0.2, :vx => 1.2, :vy => 0.1, :va => 0.3, :stall => 1  }
   #   pos2d.stop!
   class Position2d < Device
 
     # Position of robot
     # @return [Hash] hash position {:px, :py, :pa, :vx, :vy, :va, :stall }
-    attr_reader :position
+    attr_reader :state
     
     # Device geometry
     # @return [Hash] geometry { :px, :py. :pz, :proll, :ppitch, :pyaw, :sw, :sl, :sh }
@@ -39,10 +39,16 @@ module Player
 
     def initialize(addr, client)
       super
-      @position = {px: 0.0, py: 0.0, pa: 0.0, vx: 0.0, vy: 0.0, va: 0.0, stall: 0}
+      @state = {px: 0.0, py: 0.0, pa: 0.0, vx: 0.0, vy: 0.0, va: 0.0, stall: 0}
       @geom = {px: 0.0, py: 0.0, pz: 0.0, proll: 0.0, ppitch: 0.0, pyaw: 0.0, sw: 0.0, sl: 0.0, sh: 0.0}
     end
 
+    # Depricated alias for data
+    def position
+      warn "Method `position` is deprecated. Pleas use `data` for access to position"
+      state
+    end
+
     # Query robot geometry 
     # @return self
     def query_geom
@@ -163,10 +169,10 @@ module Player
     # @return self
     def set_speed(speeds)
       data = [
-        speeds[:vx] || @position[:vx],
-        speeds[:vy] || @position[:vy],
-        speeds[:va] || @position[:va],
-        speeds[:stall] || @position[:stall]
+        speeds[:vx] || @state[:vx],
+        speeds[:vy] || @state[:vy],
+        speeds[:va] || @state[:va],
+        speeds[:stall] || @state[:stall]
       ]
       send_message(PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_VEL, data.pack("GGGN"))
       self
@@ -178,8 +184,8 @@ module Player
     # @option speeds :a turning angle (rad).     
     def set_car(speeds)
       data = [ 
-        speeds[:vx] || @position[:vx],
-        speeds[:a] || @position[:pa]
+        speeds[:vx] || @state[:vx],
+        speeds[:a] || @state[:pa]
       ]
       send_message(PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_CAR, data.pack("GG"))
       self
@@ -192,8 +198,8 @@ module Player
     # @option speeds :a absolutle angle (rad).     
     def set_speed_head(speeds)
       data = [ 
-        speeds[:vx] || @position[:vx],
-        speeds[:a] || @position[:pa]
+        speeds[:vx] || @state[:vx],
+        speeds[:a] || @state[:pa]
       ]
       send_message(PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_VEL_HEAD, data.pack("GG"))
       self
@@ -203,7 +209,7 @@ module Player
     # State of motor
     # @return [Boolean] true - on
     def power
-      @position[:stall] == 1 
+      @state[:stall] == 1 
     end
 
     # Stop robot set speed to 0
@@ -214,13 +220,13 @@ module Player
 
     # Check of robot state
     def stoped?
-      speed[:vx] == 0 && speed[:vy] == 0 && speed[:va] == 0
+      @state[:vx] == 0 && @state[:vy] == 0 && @state[:va] == 0
     end
 
     def fill(hdr, msg)
       case hdr.subtype
       when PLAYER_POSITION2D_DATA_STATE
-        read_position(msg)
+        read_state(msg)
       when PLAYER_POSITION2D_DATA_GEOM
         read_geom(msg)
       else
@@ -240,21 +246,14 @@ module Player
     end
 
     private
-    def read_position(msg)
-      data = msg.unpack("GGGGGGN")
-      @position.keys.each_with_index do |k,i|
-        @position[k] = data[i]
-      end
-      debug("Get position px=%.2f py=%.2f pa=%.2f; vx=%.2f, vy=%.2f, va=%.2f, stall=%d" % position.values)
+    def read_state(msg)
+      fill_hash!(@state, msg.unpack("GGGGGGN"))
+      debug("Get state px=%.2f py=%.2f pa=%.2f; vx=%.2f, vy=%.2f, va=%.2f, stall=%d" % @state.values)
     end
 
     def read_geom(msg)
-      data = msg.unpack("G*")
-      [:px,:py,:pz, :proll,:ppitch,:pyaw, :sw,:sl,:sh].each_with_index do |k,i|
-        @geom[k] = data[i]
-      end
-      debug("Get geom px=%.2f py=%.2f pz=%.2f; proll=%.2f, ppitch=%.2f, pyaw=%.2f, sw=%.2f, sl=%.2f, sh=%.2f" % @geom.values)
+      fill_hash!(@geom, msg.unpack("G*"))
+      debug "Get geom " + geom_to_s(@geom)
     end
-
   end
 end

data/lib/ruby-player/power.rb

@@ -95,10 +95,7 @@ module Player
 
     private
     def read_state(msg)
-      data = msg.unpack("NggggN")
-      @state.keys.each_with_index do |k,i|
-        @state[k] = data[i]
-      end
+      fill_hash!(@state, msg.unpack("NggggN"))
       debug("Get power state valid=%x volts=%.2f, percent=%.2f, joules=%.2f; watts=%.2f,  charging=%d" % @state.values)
     end
   end

data/lib/ruby-player/ranger.rb

@@ -129,22 +129,21 @@ module Player
       when 2..4
         nil
       when PLAYER_RANGER_REQ_GET_CONFIG 
-        data = msg.unpack("G*")
-        [:min_angle, :max_angle, :angular_res, :min_range, :max_range, :range_res, :frequecy].each_with_index do |k,i|
-          @config[k] = data[i]
-        end
+        read_config(msg)
       else
         unexpected_message hdr
       end
     end
 
     private
+    def read_config(msg)
+      fill_hash!(@config, msg.unpack("G*"))
+    end
+  
     def read_geom(msg)
       data = msg[0,72].unpack("G*")
-      [:px,:py,:pz, :proll,:ppitch,:pyaw, :sw,:sl,:sh].each_with_index do |k,i|
-        @geom[k] = data[i]
-      end
-      debug("Get geom px=%.2f py=%.2f pz=%.2f; proll=%.2f, ppitch=%.2f, pyaw=%.2f, sw=%.2f, sl=%.2f, sh=%.2f" % @geom.values)
+      fill_hash!(@geom, data)
+      debug("Get geom: " + geom_to_s(@geom))
 
 
       p_count =  msg[72,8].unpack("NN")

data/lib/ruby-player/version.rb

@@ -13,5 +13,5 @@
 # GNU General Public License for more details.
 
 module Player
-  VERSION = "0.2.0"
+  VERSION = "0.3.0"
 end

data/spec/gripper_spec.rb

@@ -0,0 +1,122 @@
+require File.dirname(__FILE__) + "/spec_helper"
+
+include Player
+describe Player::Position2d do
+  before do
+    client = mock_client
+    @gripper = Player::Gripper.new(
+      Player::DevAddr.new(host: 0, robot:0, interface: PLAYER_GRIPPER_CODE, index: 0),
+      client
+    )
+
+    mock_sending_message(@gripper)
+  end
+
+  it 'should have default values' do
+    @gripper.state.should eql(state: PLAYER_GRIPPER_STATE_OPEN, beams: 0, stored: 0)
+    @gripper.geom.should eql(pose: { px: 0.0, py: 0.0, pz: 0.0, proll: 0.0, ppitch: 0.0, pyaw: 0.0 },
+        outer_size: { sw: 0.0, sl: 0.0, sh: 0.0 },
+        inner_size: { sw: 0.0, sl: 0.0, sh: 0.0 },
+        number_beams: 0,
+        capacity: 0
+    )
+  end
+  
+  it 'should have open? attribute' do
+    @gripper.should_receive(:state).and_return(state: PLAYER_GRIPPER_STATE_OPEN)
+    @gripper.open?.should be_true
+
+    @gripper.should_receive(:state).and_return(state: 0)
+    @gripper.open?.should be_false
+  end
+  
+  it 'should have closed? attribute' do
+    @gripper.should_receive(:state).and_return(state: PLAYER_GRIPPER_STATE_CLOSED)
+    @gripper.closed?.should be_true
+
+    @gripper.should_receive(:state).and_return(state: 0)
+    @gripper.closed?.should be_false
+  end
+
+  it 'should have moving? attribute' do
+    @gripper.should_receive(:state).and_return(state: PLAYER_GRIPPER_STATE_MOVING)
+    @gripper.moving?.should be_true
+
+    @gripper.should_receive(:state).and_return(state: 0)
+    @gripper.moving?.should be_false
+  end
+
+  it 'should have error? attribute' do
+    @gripper.should_receive(:state).and_return(state: PLAYER_GRIPPER_STATE_ERROR)
+    @gripper.error?.should be_true
+
+    @gripper.should_receive(:state).and_return(state: 0)
+    @gripper.error?.should be_false
+  end
+
+  it 'should open gripper' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_OPEN)
+    @gripper.open!
+  end
+
+  it 'should close gripper' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_CLOSE)
+    @gripper.close!
+  end
+
+  it 'should stop gripper' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_STOP)
+    @gripper.stop!
+  end
+
+  it 'should store whatever it is holding' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_STORE)
+    @gripper.store!
+  end
+
+  it 'should retrieve stored object' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_RETRIEVE)
+    @gripper.retrieve!
+  end
+
+  it 'should query geom' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_GRIPPER_REQ_GET_GEOM)
+    @gripper.query_geom
+  end
+
+  it 'should fill state data' do
+    state = { state: PLAYER_GRIPPER_STATE_CLOSED, beams: 3, stored: 4 }
+
+    msg = state.values.pack("NNN")
+    @gripper.fill(
+      Player::Header.from_a([0,0,PLAYER_GRIPPER_CODE,0, PLAYER_MSGTYPE_DATA, PLAYER_POWER_DATA_STATE, 0.0, 0, msg.bytesize]),
+      msg
+    )
+    @gripper.state.should eql(state)
+  end
+
+   it 'should get geom by request' do
+    geom = { pose: { px: 1.0, py: 2.0, pz: 3.0, proll: 4.0, ppitch: 5.0, pyaw: 6.0 },
+        outer_size: { sw: 7.0, sl: 8.0, sh: 9.0 },
+        inner_size: { sw: 10.0, sl: 11.0, sh: 12.0 },
+        number_beams: 13,
+        capacity: 14
+    }
+
+    msg = geom[:pose].values.pack("G*") + geom[:outer_size].values.pack("G*") + geom[:inner_size].values.pack("G*")
+    msg << [geom[:number_beams], geom[:capacity]].pack("NN")
+    @gripper.handle_response(
+      Player::Header.from_a([0,0,4,0, PLAYER_MSGTYPE_RESP_ACK, PLAYER_GRIPPER_REQ_GET_GEOM, 0.0, 0, msg.bytesize]),
+      msg
+    )
+    @gripper.geom.should eql(geom)
+  end
+
+  it 'should not puts warn message for ACK subtypes 1' do  
+    @gripper.should_not_receive(:unexpected_message)
+    @gripper.stub!(:read_geom)
+    @gripper.handle_response(
+        Player::Header.from_a([0,0,PLAYER_GRIPPER_CODE,0, PLAYER_MSGTYPE_RESP_ACK, PLAYER_GRIPPER_REQ_GET_GEOM, 0.0, 0, 0]),
+        "")
+  end
+end

data/spec/position2d_spec.rb

@@ -13,7 +13,7 @@ describe Player::Position2d do
   end
 
   it 'should have default values' do
-    @pos2d.position.should eql(px:0.0, py:0.0, pa:0.0, vx:0.0, vy:0.0, va:0.0, stall: 0)
+    @pos2d.state.should eql(px:0.0, py:0.0, pa:0.0, vx:0.0, vy:0.0, va:0.0, stall: 0)
     @pos2d.geom.should eql(px:0.0, py:0.0, pz:0.0, proll:0.0, ppitch:0.0, pyaw:0.0, sw:0.0, sl:0.0, sh:0.0)
   end
 
@@ -82,7 +82,7 @@ describe Player::Position2d do
       Player::Header.from_a([0,0,4,0, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, 0.0, 0, 52]),
       pos.values.pack("GGGGGGN")
     )
-    @pos2d.position.should eql(pos)
+    @pos2d.state.should eql(pos)
   end
 
   it 'should fill geom data' do

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: ruby-player
 version: !ruby/object:Gem::Version
-  version: 0.2.0
+  version: 0.3.0
   prerelease: 
 platform: ruby
 authors:
@@ -13,7 +13,7 @@ date: 2012-02-16 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: isna
-  requirement: &12972860 !ruby/object:Gem::Requirement
+  requirement: &18940320 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -21,10 +21,10 @@ dependencies:
         version: 0.0.4
   type: :runtime
   prerelease: false
-  version_requirements: *12972860
+  version_requirements: *18940320
 - !ruby/object:Gem::Dependency
   name: rspec
-  requirement: &12972000 !ruby/object:Gem::Requirement
+  requirement: &18939820 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -32,10 +32,10 @@ dependencies:
         version: '2.7'
   type: :development
   prerelease: false
-  version_requirements: *12972000
+  version_requirements: *18939820
 - !ruby/object:Gem::Dependency
   name: rake
-  requirement: &12971460 !ruby/object:Gem::Requirement
+  requirement: &18939180 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -43,10 +43,10 @@ dependencies:
         version: '0.9'
   type: :development
   prerelease: false
-  version_requirements: *12971460
+  version_requirements: *18939180
 - !ruby/object:Gem::Dependency
   name: pry
-  requirement: &12970860 !ruby/object:Gem::Requirement
+  requirement: &18938680 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -54,10 +54,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *12970860
+  version_requirements: *18938680
 - !ruby/object:Gem::Dependency
   name: yard
-  requirement: &12970220 !ruby/object:Gem::Requirement
+  requirement: &18938080 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -65,10 +65,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *12970220
+  version_requirements: *18938080
 - !ruby/object:Gem::Dependency
   name: redcarpet
-  requirement: &12969640 !ruby/object:Gem::Requirement
+  requirement: &18937400 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -76,10 +76,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *12969640
+  version_requirements: *18937400
 - !ruby/object:Gem::Dependency
   name: guard-rspec
-  requirement: &12968920 !ruby/object:Gem::Requirement
+  requirement: &18936740 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -87,7 +87,7 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *12968920
+  version_requirements: *18936740
 description: Ruby Player - Ruby client library for Player (tools for robots)
 email:
 - atimin@gmail.com
@@ -113,6 +113,7 @@ files:
 - lib/ruby-player/constants.rb
 - lib/ruby-player/dev_addr.rb
 - lib/ruby-player/device.rb
+- lib/ruby-player/gripper.rb
 - lib/ruby-player/header.rb
 - lib/ruby-player/position2d.rb
 - lib/ruby-player/power.rb
@@ -120,6 +121,7 @@ files:
 - lib/ruby-player/version.rb
 - ruby-player.gemspec
 - spec/client_spec.rb
+- spec/gripper_spec.rb
 - spec/position2d_spec.rb
 - spec/power_spec.rb
 - spec/ranger_spec.rb