RCS Robotiq 2F-85 Extension

Support for the Robotiq 2F-85 gripper in RCS.

This extension depends on rcs-core. Documentation: https://robotcontrolstack.org/extensions/rcs_robotiq2f85

Installation

Install from PyPI:

pip install rcs-robotiq2f85

Warning: plain pip install rcs-robotiq2f85 will install the published rcs-core dependency from PyPI.

Install from a local checkout:

pip install -ve .

If you want this extension to use your local RCS checkout instead of the published rcs-core package, first install the main package from the repository root:

pip install -ve . --no-build-isolation
pip install -ve extensions/rcs_robotiq2f85

Serials

python -m rcs_robotiq2f85 serials
# the following command also works
udevadm info -a -n /dev/ttyUSB0 | grep serial

Lists every /dev/ttyUSB* device with its serial number. The serial number is what you pass as serial_number to RobotiQ2F85GripperConfig.

To access the serial port, add yourself to the dialout group, then log out and back in:

sudo adduser $USER dialout

As a temporary alternative that is reset when the gripper is replugged:

sudo chmod 666 /dev/ttyUSB0

Usage

from rcs_robotiq2f85 import RobotiQ2F85GripperConfig, RobotiQGripper

gripper = RobotiQGripper(RobotiQ2F85GripperConfig(serial_number="<YOUR_SERIAL_NUMBER>"))
gripper.reset()
gripper.shut()
print(gripper.get_normalized_width())