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RobotiqGripper

Inherits from: object 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) ADR (str): Auto-release direction (open(1) or close(0) during auto-release) FOR (str): Force (0-255) SPE (str): Speed (0-255) POS (str): Position (0-255), 0 = open STA (str): Status (0 = is reset, 1 = activating, 3 = active) PRE (str): Position request (echo of last commanded position) OBJ (str): Object detection (0 = moving, 1 = outer grip, 2 = inner grip, 3 = no object at rest) FLT (str): Fault (0=ok, see manual for errors if not zero)

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init

RobotiqGripper.__init__()
Initialize a new RobotiqGripper instance.

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connect

RobotiqGripper.connect(hostname: str, port: int, socket_timeout: float = 2.0) -> None
Connect to a 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

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

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activate

RobotiqGripper.activate(auto_calibrate: bool = True)
Reset activation flag and reactivate gripper, clearing previous fault flags.
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Arguments
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auto_calibrate (bool)
bool
Whether to calibrate the minimum and maximum positions based on actual motion.

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is_active

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

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get_min_position

RobotiqGripper.get_min_position() -> int
Get the minimum position the gripper can reach (open position).
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Returns
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int
int
Minimum position value.

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get_max_position

RobotiqGripper.get_max_position() -> int
Get the maximum position the gripper can reach (closed position).
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Returns
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int
int
Maximum position value.

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get_open_position

RobotiqGripper.get_open_position() -> int
Get what is considered the open position for gripper (minimum position value).
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Returns
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int
int
Open position value.

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get_closed_position

RobotiqGripper.get_closed_position() -> int
Get what is considered the closed position for gripper (maximum position value).
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Returns
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int
int
Closed position value.

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is_open

RobotiqGripper.is_open()
Check if the current position is considered as being fully open.
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Returns
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bool
True if gripper is fully open.

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is_closed

RobotiqGripper.is_closed()
Check if the current position is considered as being fully closed.
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Returns
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bool
True if gripper is fully closed.

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get_current_position

RobotiqGripper.get_current_position() -> int
Get the current position as returned by the physical hardware.
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Returns
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int
int
Current position value.

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get_grip_detected

RobotiqGripper.get_grip_detected() -> bool
Get the current object status as returned by the physical hardware.
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Returns
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ObjectStatus
bool
Current object status.

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auto_calibrate

RobotiqGripper.auto_calibrate(log: bool = True) -> None
Attempt to calibrate the open and closed positions by slowly closing and opening the gripper.
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Arguments
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log (bool)
bool
Whether to print the results to log.
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Returns
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returns
None
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Raises
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RuntimeError
If calibration fails due to an object or other error.

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move

RobotiqGripper.move(position: int, speed: int, force: int) -> Tuple[bool, int]
Send commands to start moving towards the given position, with specified speed and force.
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Arguments
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position (int)
int
required
Position to move to [min_position, max_position]
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speed (int)
int
required
Speed to move at [min_speed, max_speed]
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force (int)
int
required
Force to use [min_force, max_force]
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Returns
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returns
Tuple[bool, int]

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move_and_wait_for_pos

RobotiqGripper.move_and_wait_for_pos(position: int, speed: int, force: int) -> Tuple[int, ObjectStatus]
Send commands to move to position with specified speed and force, then wait for completion.
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Arguments
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position (int)
int
required
Position to move to [min_position, max_position]
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speed (int)
int
required
Speed to move at [min_speed, max_speed]
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force (int)
int
required
Force to use [min_force, max_force]
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Returns
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returns
Tuple[int, ObjectStatus]
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Raises
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RuntimeError
If failed to set variables for move.

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open

RobotiqGripper.open()
Open the gripper to minimum position with maximum speed and force.

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close

RobotiqGripper.close()
Close the gripper to maximum position with maximum speed and force.

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get_tool_center_wrt_arm

RobotiqGripper.get_tool_center_wrt_arm()
No docstring provided.