viam.components.gripper

Submodules

Package Contents

Classes

Gripper

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

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