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RobotiqEPick

Inherits from: SuctionGripper Communicates with the gripper directly, via socket with string commands, leveraging string names for variables. Attributes: ACT (str): Activate (1 while activated, can be reset to clear fault status) GTO (str): Go to (will perform go to with the actions set in pos, for, spe) ATR (str): Auto-release (emergency slow move) MOD (str): Mode (0 = automatic, 1 = advanced) FR (str): Minimum pressure PR (str): Max/ target pressure SP (str): Timeout for suction STA (str): Status (0 = is reset, 1 = activating, 3 = active) PRE (str): Position request (echo of last commanded position) OBJ (str): Object detection FLT (str): Fault (0=ok, see manual for errors if not zero)

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init

RobotiqEPick.__init__(advanced_mode: bool = False)
Initialize a new RobotiqEPick instance.
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Arguments
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advanced_mode (bool)
bool
No description provided.

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connect

RobotiqEPick.connect(hostname: str, port: int, socket_timeout: float = 2.0) -> None
Connect to a suction gripper at the given address.
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Arguments
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hostname (str)
str
required
Hostname or ip.
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port (int)
int
required
Port.
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socket_timeout (float)
float
Timeout for blocking socket operations.
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Returns
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returns
None

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disconnect

RobotiqEPick.disconnect() -> None
Close the connection with the suction gripper.
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Returns
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returns
None

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initialize

RobotiqEPick.initialize(*args, **kwargs)
Connect to the IP/port of the gripper and set it to an active state.
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Arguments
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args
No description provided.
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kwargs
No description provided.

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activate

RobotiqEPick.activate(*args, **kwargs)
Reset activation flag and reactivate suction gripper, clearing previous fault flags. When gripping an object in the automatic mode, the Vacuum Gripper will: 1 Try to reach the maximum possible vacuum level for a maximum period of 2 seconds. 2 Directly activate the continuous mode if the maximum vacuum level detected is under 30%. 3 Automatically determine a desired minimum and maximum vacuum level in order to keep a good grip on the workpiece, if a vacuum level of more than 10% is detected and the level seems constant. 4 Set the object flag. 5 Vacuum generator will keep the vacuum level in between min and max until a release command is received. 6 Activate a time-out regrip for the object detection if: i. The vacuum level drops under 10% ; ii. The object status is 0. This means that the vacuum level dropped under the minimum level for more than 1 second. When releasing an object in the automatic mode, the Vacuum Gripper will: 1 Open the release valve. 2 Object drop flag will be set when the vacuum level falls below 0.5%. 3 Release valve will be kept open for 1 second. When gripping an object in the manual mode with a maximum vacuum level that can’t be reached or that reached 100%, the Vacuum Gripper will: 1 Continuously generate a vacuum 2 When the minimum vacuum level is reached, object flag will be set (gOBJ=0b01). Object flag (gOBJ=0b10) will never be set because the maximum vacuum level is impossible to reach. 3 Activate a time-out regrip for the object detection if: i. The vacuum level drops under 10% ; ii. The object status is 0. This means that the vacuum level dropped under the minimum level for more than 1 second. When releasing an object in the manual mode, the Vacuum Gripper will: 1 Open the release valve. 2 Object drop flag will be set when the vacuum level falls below 0.5%. 3 Release valve will be kept open for 1 second.
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Arguments
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args
No description provided.
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kwargs
No description provided.

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is_active

RobotiqEPick.is_active()
Check if the suction gripper is active.
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Returns
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bool
True if suction gripper is active.

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get_grip_detected

RobotiqEPick.get_grip_detected() -> bool
No docstring provided.
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Returns
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returns
bool

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grasp_status

RobotiqEPick.grasp_status() -> ObjectStatus
No docstring provided.
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Returns
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returns
ObjectStatus

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set_advanced_mode

RobotiqEPick.set_advanced_mode(advanced_mode: bool)
No docstring provided.
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Arguments
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advanced_mode (bool)
bool
required
No description provided.

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open

RobotiqEPick.open(*args, **kwargs)
Release the object by opening the release valve, setting POS to 255.
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Arguments
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args
No description provided.
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kwargs
No description provided.

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close

RobotiqEPick.close(*args, **kwargs)
Closes the suction gripper, if in advanced mode, can set the pressure, timeout, and release mode.
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Arguments
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args
No description provided.
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kwargs
No description provided.

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detect_porus_object

RobotiqEPick.detect_porus_object()
Detects porous objects by checking the FAULT flag.

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get_tool_center_wrt_arm

RobotiqEPick.get_tool_center_wrt_arm()
No docstring provided.