XenseGripper API Reference

Method	Purpose
XenseGripper.create(mac_addr=None)	Create a gripper connection
set_position(position, vmax=80.0, fmax=27.0)	Non-blocking position command, 0–85 mm
set_position_sync(...)	Command a position and wait for arrival; on timeout, returns False or raises a timeout exception depending on the installed package version
set_speed(velocity, fmax=27)	Positive closes, negative opens, zero stops
open_gripper() / close_gripper()	Move to 85 mm / 0 mm
get_gripper_status()	Return position, velocity, force, and temperature
set_led_color(r, g, b)	Set RGB LED channels in the 0–255 range
set_control_param(stiffness, kp, ki, kd)	Configure the SAFE-mode controller
mode(control_mode, serial_number=None)	Temporarily switch mode with a context manager
enable_mode(...) / disable_mode()	Manually enable or disable a mode

Position and velocity limits

gripper.set_position(position=50, vmax=120, fmax=25)
with gripper.mode(XenseGripper.ControlMode.SPEED):
    gripper.set_speed(-40)
    time.sleep(1)
    gripper.set_speed(0)

Current implementations commonly constrain position to 0..85 mm, maximum velocity to 0..350 mm/s, and maximum force to 0..60 N. The exact limits may vary by firmware; if a ValueError is raised, follow the limits reported by the device.

Reading status

status = gripper.get_gripper_status()
if status:
    print(status["position"], "mm")
    print(status["velocity"], "mm/s")
    print(status["force"], "N")
    print(status["temperature"], "°C")