grippers_rtde

UR RTDE Grippers Module.

This module provides a simple gripper interface for Universal Robots using RTDE digital outputs. The implementation follows the gripper base class API from robotblockset.grippers.

class robotblockset.ur.grippers_rtde.ur_gripper(robot: robot, control_signal: int = 0, **kwargs: Any)[source]

Bases: gripper

UR gripper interface controlled through the RTDE robot connection.

Attributes:

Name (str) – Identifier string for the gripper instance.
GripperTagNames (str) – Tag name used for identifying the gripper in logs or configurations.
Robot (robot) – Robot instance this gripper is associated with.
control_signal (int) – Digital output index used to command the gripper.

Initialize a UR gripper controlled via RTDE interface.

Parameters:

robot (robot) – robot An instance of the robot class that this gripper is attached to.
control_signal (int, optional) – The number of digital output signal used to command the gripper (default is 0).
**kwargs (Any) – Additional keyword arguments for extended configuration.

Returns:

This constructor initializes the RTDE gripper interface in place.

Return type:

None

__init__(robot: robot, control_signal: int = 0, **kwargs: Any) → None[source]

Initialize a UR gripper controlled via RTDE interface.

Parameters:

robot (robot) – robot An instance of the robot class that this gripper is attached to.
control_signal (int, optional) – The number of digital output signal used to command the gripper (default is 0).
**kwargs (Any) – Additional keyword arguments for extended configuration.

Returns:

This constructor initializes the RTDE gripper interface in place.

Return type:

None

Open() → bool[source]

Opens the gripper.

Parameters:: **kwargs (dict) – Additional arguments for the open operation.
Returns:: True if the gripper successfully opens, False otherwise.
Return type:: bool

Close() → bool[source]

Closes the gripper.

Parameters:: **kwargs (dict) – Additional arguments for the close operation.
Returns:: True if the gripper successfully closes, False otherwise.
Return type:: bool

Grasp(**kwargs) → bool[source]

Closes the gripper.

Parameters:: **kwargs (dict) – Additional arguments for the grasp operation, may include a “width” key.
Returns:: True if the gripper successfully grasps, False otherwise.
Return type:: bool

Move(width: float, **kwargs: Any) → bool[source]

Opens or closes the gripper based on the specified width. :param width: If width>0 gripper opens else it closes. :type width: float :param **kwargs: Additional arguments for the grasp operation, may include a “speed” key. :type **kwargs: dict

Returns:: True if the gripper successfully moves, False otherwise.
Return type:: bool

isOpened() → bool[source]

Returns True if the gripper is open.

Returns:: True if the gripper is open, False otherwise.
Return type:: bool

isClosed() → bool[source]

Returns True if the gripper is closed.

Returns:: True if the gripper is closed, False otherwise.
Return type:: bool

GetState() → str[source]

Returns the current state of the gripper.

Returns:: The state of the gripper, either “Opened”, “Closed”, or “Undefined”.
Return type:: str

Homing() → bool[source]

Reset the gripper to an open state.

Returns:: True if the gripper successfully homes, False otherwise.
Return type:: bool

Classes

ur_gripper(robot[, control_signal])

UR gripper interface controlled through the RTDE robot connection.