viam.components.gripper

Submodules

Classes

Gripper

Gripper represents a physical robotic gripper.

Package Contents

class viam.components.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 the super().__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:: ResourceName

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 return errors when future non-Close methods are called.

await component.close()