Gripper#

Interface for controlling the Franka Hand gripper.

Gripper Class#

class pylibfranka.Gripper#

Bases: pybind11_object

Interface for controlling a Franka Hand gripper.

grasp(self: pylibfranka._pylibfranka.Gripper, width: float, speed: float, force: float, epsilon_inner: float = 0.005, epsilon_outer: float = 0.005) → bool#

Grasp an object.

The gripper closes at the specified speed and force until an object is detected or the target width is reached. The grasp is considered successful if the final width is within the specified tolerances.

@param width Target grasp width [m] @param speed Closing speed [m/s] @param force Grasping force [N] @param epsilon_inner Inner tolerance for grasp check [m] (default: 0.005) @param epsilon_outer Outer tolerance for grasp check [m] (default: 0.005) @return True if grasp successful :raises CommandException: if the command fails :raises NetworkException: if the connection is lost

homing(self: pylibfranka._pylibfranka.Gripper) → bool#

Perform homing to find maximum width.

Homing moves the gripper fingers to the maximum width to calibrate the position. This should be performed after powering on the gripper or when the gripper state is uncertain.

@return True if successful :raises CommandException: if the command fails :raises NetworkException: if the connection is lost

move(self: pylibfranka._pylibfranka.Gripper, arg0: float, arg1: float) → bool#

Move gripper fingers to a specific width.

Moves the gripper to the specified width at the given speed. Use this for opening and closing the gripper without force control.

@param width Target width [m] @param speed Movement speed [m/s] @return True if successful :raises CommandException: if the command fails :raises NetworkException: if the connection is lost

read_once(self: pylibfranka._pylibfranka.Gripper) → pylibfranka._pylibfranka.GripperState#

Read current gripper state once.

Queries the gripper for its current state including width, temperature, and grasp status.

@return Current gripper state :raises NetworkException: if the connection is lost

server_version(self: pylibfranka._pylibfranka.Gripper) → int#

Get gripper server version.

@return Server version information

stop(self: pylibfranka._pylibfranka.Gripper) → bool#

Stop current gripper motion.

Stops any ongoing gripper movement immediately.

@return True if successful :raises CommandException: if the command fails :raises NetworkException: if the connection is lost

The Gripper class provides control of the Franka Hand parallel-jaw gripper.

Methods#

Gripper.__init__(self: pylibfranka._pylibfranka.Gripper, arg0: str) → None

Connect to gripper.

Establishes connection to the Franka Hand gripper at the specified address.

@param franka_address IP address or hostname of the robot :raises NetworkException: if the connection cannot be established

Gripper.homing(self: pylibfranka._pylibfranka.Gripper) → bool

Perform homing to find maximum width.

Homing moves the gripper fingers to the maximum width to calibrate the position. This should be performed after powering on the gripper or when the gripper state is uncertain.

@return True if successful :raises CommandException: if the command fails :raises NetworkException: if the connection is lost

Gripper.move(self: pylibfranka._pylibfranka.Gripper, arg0: float, arg1: float) → bool

Move gripper fingers to a specific width.

Moves the gripper to the specified width at the given speed. Use this for opening and closing the gripper without force control.

@param width Target width [m] @param speed Movement speed [m/s] @return True if successful :raises CommandException: if the command fails :raises NetworkException: if the connection is lost

Gripper.grasp(self: pylibfranka._pylibfranka.Gripper, width: float, speed: float, force: float, epsilon_inner: float = 0.005, epsilon_outer: float = 0.005) → bool

Grasp an object.

The gripper closes at the specified speed and force until an object is detected or the target width is reached. The grasp is considered successful if the final width is within the specified tolerances.

@param width Target grasp width [m] @param speed Closing speed [m/s] @param force Grasping force [N] @param epsilon_inner Inner tolerance for grasp check [m] (default: 0.005) @param epsilon_outer Outer tolerance for grasp check [m] (default: 0.005) @return True if grasp successful :raises CommandException: if the command fails :raises NetworkException: if the connection is lost

Gripper.stop(self: pylibfranka._pylibfranka.Gripper) → bool

Stop current gripper motion.

Stops any ongoing gripper movement immediately.

@return True if successful :raises CommandException: if the command fails :raises NetworkException: if the connection is lost

Gripper.read_once(self: pylibfranka._pylibfranka.Gripper) → pylibfranka._pylibfranka.GripperState

Read current gripper state once.

Queries the gripper for its current state including width, temperature, and grasp status.

@return Current gripper state :raises NetworkException: if the connection is lost

GripperState Class#

class pylibfranka.GripperState#

Bases: pybind11_object

Current state of the Franka Hand gripper.

property is_grasped#

True if object is grasped

property max_width#

Maximum gripper width [m]

property temperature#

Gripper temperature [°C]

property time#

Timestamp

property width#

Current gripper width [m]

Current state of the Franka Hand gripper.

See Also#