ryanpaulmckenna/onrobot

A simple gripper library for UR robot with onRobot gripper, no onrobot compute box needed!

onRobot

Developed at The University of York

A simple gripper library to use a Universal Robot with an onRobot gripper, no onrobot compute box needed.

Supported onRobot Grippers

• RG2
• VG10
• Gecko
• SG
• TFG
• SDR
• 2FG
• MG
• FGP

See further down for usage examples

• Simple and easy to use!
• No onRobot compute box needed!
• Communicates with XML-RPC interface so is compatible with ROS driver!
• Supports RG2 only, more coming soon!

Install instructions

pip install onrobot

Example Usage

import onRobot.gripper as gripper

rg_id = 0
ip = "192.168.56.101"
rg_gripper = gripper.RG2(ip,rg_id)

rg_width = rg_gripper.get_rg_width()
print("rg_width: ",rg_width)

target_force = 40.00

rg_gripper.rg_grip(100.0, target_force)

Functions implemented for the RG2

• rg_stop
• rg_grip
• rg_calibration
• rg_get_all_variables
• rg_get_all_double_variables
• rg_get_all_integer_variable>
• rg_get_all_boolean_variable>
• rg_get_speed
• rg_get_depth
• rg_get_relative_depth
• rg_get_angle
• rg_get_angle_speed
• rg_get_width
• rg_get_fingertip_offset
• rg_get_status
• rg_get_busy
• rg_get_grip_detected
• rg_get_s1_pushed
• rg_get_s1_triggered
• rg_get_s2_pushed
• rg_get_s2_triggered
• rg_get_safety_failed
• rg_set_fingertip_offset

Functions implemented for the VG10

• vg10_grip
• vg10_release
• [] vg10_idle
• [] vg10_get_vacuum
• [] vg10_get_all_double_variables