grippers_robotiq

Robotiq gripper interface via pyRobotiqGripper.

High-level interface for controlling Robotiq 2F grippers through the pyrobotiqgripper package.

class robotblockset.robotiq.grippers_robotiq.robotiq_gripper(*args: Any, **kwargs: Any)[source]

Bases: RobotiqGripper, gripper

RobotBlockset wrapper around pyrobotiqgripper.RobotiqGripper.

The upstream library communicates with the gripper over Modbus RTU and uses a serial port connection. Width commands are expressed in meters in the RobotBlockset API and are converted to millimeters for the backend.

Initialize the Robotiq gripper interface.

Parameters:

  • name (str, optional) – Name identifier for the gripper instance.

  • portname (str, optional) – Serial port used by pyrobotiqgripper. “auto” enables the package auto-detection logic.

  • slave_address (int, optional) – Modbus slave address of the gripper, usually 9.

  • activate (bool, optional) – If True, activate the gripper during initialization.

  • calibrate (bool, optional) – If True, calibrate the gripper using width_min and width_max.

  • width_min (float, optional) – Closed gripper width in meters used for calibration.

  • width_max (float, optional) – Open gripper width in meters used for calibration.

  • **kwargs (Any) – Additional keyword arguments reserved for future extensions.

__init__(name: str = 'robotiq_gripper', portname: str = 'auto', slave_address: int = 9, activate: bool = True, calibrate: bool = False, width_min: float = 0.0, width_max: float = 0.085, **kwargs: Any) → None[source]

Initialize the Robotiq gripper interface.

Parameters:

  • name (str, optional) – Name identifier for the gripper instance.

  • portname (str, optional) – Serial port used by pyrobotiqgripper. “auto” enables the package auto-detection logic.

  • slave_address (int, optional) – Modbus slave address of the gripper, usually 9.

  • activate (bool, optional) – If True, activate the gripper during initialization.

  • calibrate (bool, optional) – If True, calibrate the gripper using width_min and width_max.

  • width_min (float, optional) – Closed gripper width in meters used for calibration.

  • width_max (float, optional) – Open gripper width in meters used for calibration.

  • **kwargs (Any) – Additional keyword arguments reserved for future extensions.

property width: float

Get the current gripper width in meters.

Activate() → None[source]

Activate the physical gripper.

Calibrate(width_min: float = 0.0, width_max: float = 0.085) → None[source]

Calibrate the gripper for mm-based commands and feedback.

GetWidth() → float[source]

Return the current opening width in meters.

is_grasped() → bool[source]

Return True if the backend reports contact while closing.

GetState() → str[source]

Return the gripper state as a human-readable string.

Grasp(width: float = 0.0, speed: int = 255, force: int = 255, **kwargs: Any) → bool[source]

Close the gripper to width and report whether an object was detected.

Move(width: float, speed: int = 255, force: int = 255) → bool[source]

Move the gripper to the requested width in meters.

Open(speed: int = 255, force: int = 255, **kwargs: Any) → bool[source]

Open the gripper to its calibrated maximum width.

Close(speed: int = 255, force: int = 255, **kwargs: Any) → bool[source]

Close the gripper.

Homing(**kwargs: Any) → bool[source]

Open the gripper after optionally re-running activation.

Classes

robotiq_gripper(*args, **kwargs)

RobotBlockset wrapper around pyrobotiqgripper.RobotiqGripper.