set_position Method

XenseGripper.set_position(self, position, vmax=80.0, fmax=27.0)

Set the target position of the gripper.

Parameters:

• position (float) – Target position of the gripper, in millimeters (mm). Must be within the range (0, 85). 85 mm means fully open, 0 mm means fully closed.

• vmax (float, 可选) – Maximum movement speed, in millimeters per second (mm/s). Must be within the range (0, 350). The default value is 80 mm/s.

• fmax (float, 可选) – Maximum output force, in Newtons (N). Must be within the range (0, 60). The default value is 27 N.

Raises:

ValueError – Triggered when any input parameter exceeds its allowed physical limit range.

Example Code

import time
from threading import Thread

from xensegripper import XenseGripper


def data_fetch():
    while True:
        status = gripper.get_gripper_status()
        if isinstance(status, dict):
            info_str = "\rGripper Status: {"
            for key, value in status.items():
                info_str += f"{key}:{value:+8.4f}, "
            info_str += "}"
            print(info_str, end="", flush=True)
        time.sleep(0.05)

if __name__=="__main__":

    gripper = XenseGripper.create("d672f584b17a")
    data_fetch_thread = Thread(target=data_fetch, daemon=True)
    data_fetch_thread.start()

    flag = True
    while True:
        if flag:
            gripper.set_position(80, 80, 20)
            flag = not flag
        else:
            gripper.set_position(10, 80, 20)
            flag = not flag
        time.sleep(1)