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

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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

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

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