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UIFinger

A class representing a finger of a robot gripper.

Attributes:

Name Type Description
finger robolink.Item

the linked RoboDK finger object
pos_open List[float]

the xyz translation in the released state
pos_open List[float]

the xyz translation in the gripped state

close(self)

Closes the finger.

Source code in core/ui/ui_gripper.py 
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def close(self):
    """Closes the finger.
    """
    pose: robodk.Mat = self.finger.Pose()
    pose.setPos(self.pos_closed)
    self.finger.setPose(pose)

open(self)

Opens the finger.

Source code in core/ui/ui_gripper.py 
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def open(self):
    """Opens the finger.
    """
    pose: robodk.Mat = self.finger.Pose()
    pose.setPos(self.pos_open)
    self.finger.setPose(pose)

UIGripper

A class representing a robot gripper.

Attributes:

Name Type Description
tool robolink.Item

the linked RoboDK gripper object
finger_a UIFinger

first finger
finger_b UIFinger

second finger

close(self)

Closes the gripper.

Source code in core/ui/ui_gripper.py 
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def close(self):
    """Closes the gripper.
    """
    self.finger_a.close()
    self.finger_b.close()

open(self)

Opens the gripper.

Source code in core/ui/ui_gripper.py 
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def open(self):
    """Opens the gripper.
    """
    self.finger_a.open()
    self.finger_b.open()