A function was added to urrobot to allow a user to control the RG2 gr…

[robodave94]

I added a single function to the urrobot.py file that allows a developer to control the RG2 gripper.

The parameter width is an integer between 0 and 110.

I thought it may help some others out as I have been struggling controlling this gripper with only python-urx for a couple of days. Hopefully will be considered useful. Let me know of any issues.

functionality was inspired by https://github.com/sharathrjtr/ur10_rg2_ros

[robodave94]

Actually, Wait, I found a small error with gripper code and will fix. need to add a timeout counter when it grips an object. Apologies

[oroulet]

Is it fixed?

[robodave94]

Our UR10 was in use by another faculty for an extended exhibit and I didn't get around to testing the fix. We got it back a month ago and I spaced on the fix, I'll test the it over the next week and confirm.

[robodave94]

Completed the fix. Moved everything to a file called RG2 gripper and updated the readme. If you come across any issues please let me know. If an object is removed from the gripper while grasping it will complete the closing motion if set to 0, however this was part of the default programs design from OnRobot. In the future I will try to make an additional grasp function that determines a grasping success but I couldn't quite get it working right now. However one can infer if a grasp was a success by determining what the width is after setting the gripper to move to 0.

[michael-hart]

Hi all, this addition would be very useful for my work at present, is there anything I can do to help move it into master?

[oroulet]

Someone needs to rebase.

[oroulet]

I do not work with these robots anymore