viam.components.gripper.gripper
Classes
Gripper represents a physical robotic gripper. |
Module Contents
- class viam.components.gripper.gripper.Gripper(name: str, *, logger: logging.Logger | None = None)[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 thesuper().__init__()
function.from viam.components.gripper import Gripper
For more information, see Gripper component.
- SUBTYPE: Final
The Subtype of the Resource
- abstract open(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
- Async:
Open the gripper.
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper") # Open the gripper. await my_gripper.open()
For more information, see Gripper component.
- abstract grab(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) bool [source]
- Async:
Instruct the gripper to grab.
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper") # Grab with the gripper. grabbed = await my_gripper.grab()
- Returns:
Indicates if the gripper grabbed something.
- Return type:
bool
For more information, see Gripper component.
- abstract stop(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
- Async:
Stop the gripper. It is assumed the gripper stops immediately.
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper") # Stop the gripper. await my_gripper.stop()
For more information, see Gripper component.
- abstract is_moving() bool [source]
- Async:
Get if the gripper is currently moving.
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper") # Check whether the gripper is currently moving. moving = await my_gripper.is_moving() print('Moving:', moving)
- Returns:
Whether the gripper is moving.
- Return type:
bool
For more information, see Gripper component.
- 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 do_command(command: Mapping[str, ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, ValueTypes]
- Async:
Send/Receive arbitrary commands to the Resource
command = {"cmd": "test", "data1": 500} result = await component.do_command(command)
- 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: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry]
Get all geometries associated with the component, in their current configuration, in the frame of the component.
geometries = await component.get_geometries() if geometries: # Get the center of the first geometry print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")
- 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
# Can be used with any resource, using an arm as an example my_arm_name = Arm.get_resource_name("my_arm")
- Parameters:
name (str) – The name of the Resource
- Returns:
The ResourceName of this Resource
- Return type:
- 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 theOperation
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:
- 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 return errors when future non-Close methods are called.
await component.close()