austin.robotiq_gripper

Module to control Robotiq’s grippers - tested with HAND-E

Functions:

RobotiqGripper

class austin.robotiq_gripper.RobotiqGripper

Bases: object

Communicates with the gripper directly, via socket with string commands, leveraging string names for variables.

ACT = 'ACT'

ADR = 'ADR'

ATR = 'ATR'

ENCODING = 'UTF-8'

FLT = 'FLT'

FOR = 'FOR'

GTO = 'GTO'

class GripperStatus(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

Gripper status reported by the gripper. The integer values have to match what the gripper sends.

ACTIVATING = 1

ACTIVE = 3

RESET = 0

OBJ = 'OBJ'

class ObjectStatus(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

Object status reported by the gripper. The integer values have to match what the gripper sends.

AT_DEST = 3

MOVING = 0

STOPPED_INNER_OBJECT = 2

STOPPED_OUTER_OBJECT = 1

POS = 'POS'

PRE = 'PRE'

SPE = 'SPE'

STA = 'STA'

activate(auto_calibrate: bool = True)

auto_calibrate(log: bool = True) → None

Attempts to calibrate the open and closed positions, by slowly closing and opening the gripper. :param log: Whether to print the results to log.

connect(hostname: str, port: int, socket_timeout: float = 2.0) → None

Connects to a gripper at the given address. :param hostname: Hostname or ip. :param port: Port. :param socket_timeout: Timeout for blocking socket operations.

disconnect() → None

Closes the connection with the gripper.

get_closed_position() → int

Returns what is considered the closed position for gripper (maximum position value).

get_current_position() → int

Returns the current position as returned by the physical hardware.

get_max_position() → int

Returns the maximum position the gripper can reach (closed position).

get_min_position() → int

Returns the minimum position the gripper can reach (open position).

get_open_position() → int

Returns what is considered the open position for gripper (minimum position value).

is_active()

Returns whether the gripper is active.

is_closed()

Returns whether the current position is considered as being fully closed.

is_open()

Returns whether the current position is considered as being fully open.

move(position: int, speed: int, force: int) → Tuple[bool, int]

Sends commands to start moving towards the given position, with the specified speed and force. :param position: Position to move to [min_position, max_position] :param speed: Speed to move at [min_speed, max_speed] :param force: Force to use [min_force, max_force] :return: A tuple with a bool indicating whether the action it was successfully sent, and an integer with the actual position that was requested, after being adjusted to the min/max calibrated range.

move_and_wait_for_pos(position: int, speed: int, force: int) → Tuple[int, ObjectStatus]

Sends commands to start moving towards the given position, with the specified speed and force, and then waits for the move to complete. :param position: Position to move to [min_position, max_position] :param speed: Speed to move at [min_speed, max_speed] :param force: Force to use [min_force, max_force] :return: A tuple with an integer representing the last position returned by the gripper after it notified that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note that it is possible that the position was not reached, if an object was detected during motion.