A simple and easy to use python module to control the Robotiq Hand-E gripper attached to a Universal Robots robot arm. This driver depends on a installed Robotiq grippers URCap on the UR arm.
The code was tested on Robotiq Hand-E and was originally developed for the Gripper 2F-85. Since the 2F-140 is controlled just as the 2F-85 it is save to assume that the code works for all these 3 types of Robotiq grippers.
The code was originally written by the team of SDU Robotics and adapted by us to use with asyncio. You can find further thoughts and explanations regarding the control of Robotiq grippers attached to a UR arm on their Website.
import asyncio
from ur_robotiq_gripper import Gripper
async def log_info(gripper):
print(f"Pos: {str(await gripper.get_current_position()): >3} "
f"Open: {await gripper.is_open(): <2} "
f"Closed: {await gripper.is_closed(): <2} ")
async def run():
gripper = Gripper('10.10.2.2') # actual ip of the ur arm
await gripper.connect()
await gripper.activate() # calibrates the gripper
await gripper.move_and_wait_for_pos(255, 255, 255)
await log_info(gripper)
await gripper.move_and_wait_for_pos(0, 255, 255)
await log_info(gripper)
asyncio.run(run())