onRobot

Developed at The University of York

A simple gripper library to use a Universal Robot with an onRobot gripper, no onrobot compute box needed. Please note you must install the URcap file on the UR teach pendant. You must also have set all the correct IP addresses in the networking settings of the UR Teach Pendant and the computer you are connecting to the Robot via the ethernet.

Supported onRobot Grippers

• RG2
• VG10
• 2FG7
• Gecko
• SG
• TFG
• SDR
• 2FG
• MG
• FGP

See further down for usage examples

• Simple and easy to use!
• No onRobot compute box needed!
• Communicates with XML-RPC interface so is compatible with ROS driver!
• Contributions welcome!
• onRobot URcap must be installed on Universal Robots Teach Pendant.

Install instructions

pip install onrobot

Example Usage

import onRobot.gripper as gripper

rg_id = 0
ip = "192.168.56.101"
rg_gripper = gripper.RG2(ip,rg_id)

rg_width = rg_gripper.get_rg_width()
print("rg_width: ",rg_width)

target_force = 40.00

rg_gripper.rg_grip(100.0, target_force)

Functions implemented for the RG2

• rg_stop
• rg_grip
• rg_calibration
• rg_get_all_variables
• rg_get_all_double_variables
• rg_get_all_integer_variable>
• rg_get_all_boolean_variable>
• rg_get_speed
• rg_get_depth
• rg_get_relative_depth
• rg_get_angle
• rg_get_angle_speed
• rg_get_width
• rg_get_fingertip_offset
• rg_get_status
• rg_get_busy
• rg_get_grip_detected
• rg_get_s1_pushed
• rg_get_s1_triggered
• rg_get_s2_pushed
• rg_get_s2_triggered
• rg_get_safety_failed
• rg_set_fingertip_offset

Functions implemented for the VG10

• vg10_grip
• vg10_release
• [] vg10_idle
• [] vg10_get_vacuum
• [] vg10_get_all_double_variables