viam.components.gripper.gripper

Module Contents

Classes

Gripper

Gripper represents a physical robotic gripper.
class viam.components.gripper.gripper.Gripper(name: str)[source]

Bases: viam.components.component_base.ComponentBase

Gripper represents a physical robotic gripper.

This acts as an abstract base class for any drivers representing specific gripper implementations. This cannot be used on its own. If the __init__() function is overridden, it must call the super().__init__() function.

SUBTYPE: Final
abstract async open(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs)[source]

Open the gripper.

abstract async grab(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → bool[source]

Instruct the gripper to grab.

Returns:

Indicates if the gripper grabbed something.

Return type:

bool

abstract async stop(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs)[source]

Stop the gripper. It is assumed the gripper stops immediately.

abstract async is_moving() → bool[source]

Get if the gripper is currently moving.

Returns:

Whether the gripper is moving.

Return type:

bool

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) → typing_extensions.Self

Get the component named name from the provided robot.

Parameters:

  • robot (RobotClient) – The robot

  • name (str) – The name of the component

Returns:

The component, if it exists on the robot

Return type:

Self

abstract async do_command(command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) → Mapping[str, ValueTypes]

Send/Receive arbitrary commands to the Resource

Parameters:

command (Mapping[str, ValueTypes]) – The command to execute

Raises:

NotImplementedError – Raised if the Resource does not support arbitrary commands

Returns:

Result of the executed command

Return type:

Mapping[str, ValueTypes]

async get_geometries(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) → List[viam.proto.common.Geometry]

Get all geometries associated with the Component, in their current configuration, in the frame of the Component.

Returns:

The geometries associated with the Component.

Return type:

List[Geometry]

classmethod get_resource_name(name: str) → viam.proto.common.ResourceName

Get the ResourceName for this Resource with the given name

Parameters:

name (str) – The name of the Resource

get_operation(kwargs: Mapping[str, Any]) → viam.operations.Operation

Get the Operation associated with the currently running function.

When writing custom resources, you should get the Operation by calling this function and check to see if it’s cancelled. If the Operation is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ).

Parameters:

kwargs (Mapping[str, Any]) – The kwargs object containing the operation

Returns:

The operation associated with this function

Return type:

viam.operations.Operation

async close()

Safely shut down the resource and prevent further use.

Close must be idempotent. Later configuration may allow a resource to be “open” again. If a resource does not want or need a close function, it is assumed that the resource does not need to retun errors when future non-Close methods are called.