RCS Robotiq2F85 Extension

This extension provides support for Robotiq 2F-85 Gripper in RCS.

Installation

pip install rcs-robotiq2f85

For local development:

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

Serial Numbers

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())