pyRobotiqUR 0.2.2

Simple Python interface for Robotiq grippers over a TCP socket (URCap/UR controller).

pyRobotiqUR for Universal Robots

pyRobotiqUR is a small Python library that provides a simple socket-based interface to Robotiq grippers connected to a Universal Robots (UR) controller via the Robotiq URCap.

It talks to the UR controller over TCP using the Robotiq ASCII GET/SET protocol on the URCap’s internal server port (typically 63352).

Features

• Connect to a UR controller over TCP/IP
• Activate / reset the Robotiq gripper
• Move to a raw position 0–255
• Move using a convenient 0–100 % interface (0% open, 100% closed)
• Read status, object status and fault codes

Installation

Install the URCap on your Universal Robots controller first:

• Download the Robotiq URCap from the Robotiq website
• Install and activate the URCap on your UR controller
• Tested with URCap version 3.27.0 and UR Polyscope version 5.12.4

Install from PyPI via pip:

pip install pyRobotiqUR

Usage

Example script:

import time
from pyrobotiqur import RobotiqGripper


UR_IP = "192.168.0.10"   # <-- replace with your UR controller IP


if __name__ == "__main__":
    with RobotiqGripper(UR_IP) as g:
        # Activate gripper (if not already active)
        g.activate()

        print("Opening gripper...")
        g.open(speed=128, force=10)
        time.sleep(3.0)
        print("POS after open:", g.get_position())

        print("Closing gripper...")
        g.close(speed=200, force=200)
        time.sleep(3.0)
        print("POS after close:", g.get_position())

        print("Moving gripper to position 50%...")
        g.move_percent(50, speed=128, force=128)
        time.sleep(3.0)
        print("POS after move_percent:", g.get_position())

        print("Object status:", g.get_object_status())
        print("Fault code:", g.get_fault())