robotiq module

This robotiq module implements a robotiq 2f-grippers gripper, using the rdk:component:gripper API.

Note

Before configuring your gripper, you must create a machine.

Navigate to the CONFIGURE tab of your machine in the Viam app. Add gripper / robotiq:2f-grippers to your machine.

Configure your 2f-grippers gripper

Copy and paste the following attributes into your JSON configuration:

{
  "host": "<your-gripper-ip-address>"
}

Attributes

The following attributes are available for viam:robotiq:2f-grippers grippers:

Attribute	Type	Required?	Description
host	string	Required	The host address of your gripper machine.

Example configuration

  {
      "name": "<your-robotiq-2f-grippers-name>",
      "model": "viam:robotiq:2f-grippers",
      "type": "gripper",
      "namespace": "rdk",
      "attributes": {
        "host": "0.0.0.0"
      },
      "depends_on": []
  }

DoCommand

Raw position control. Robotiq units: 0 = fully open, 255 = fully closed (bounded by the calibrated open/close limits detected at startup).

// Get the current position
resp, err := gripperComponent.DoCommand(context.Background(), map[string]interface{}{"get": true})
// resp["pos"] contains the position

// Move to a specific position
resp, err := gripperComponent.DoCommand(context.Background(), map[string]interface{}{"set": 128.0})
// resp["position"] contains the commanded position

Next Steps

• To test your gripper, expand the TEST section of its configuration pane or go to the CONTROL tab.
• To write code against your gripper, use one of the available SDKs.
• To view examples using a gripper component, explore these tutorials.