viam.components.gripper.gripper
Module Contents
Classes
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 thesuper().__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 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 retun errors when future non-Close methods are called.