XenseGripper Quick Start

import time
from xensegripper import XenseGripper

gripper = XenseGripper.create(mac_addr="d672f584b17a")
try:
    # 0 mm = closed, 85 mm = open
    gripper.set_position(40, vmax=80, fmax=27)
    time.sleep(1)

    status = gripper.get_gripper_status()
    print(status)

    # Synchronous move: returns after reaching the target or timing out
    ok = gripper.set_position_sync(70, timeout=5.0)
    print("reached:", ok)
finally:
    # At minimum, stop the current motion before exiting;
    # use the context manager for SAFE mode
    gripper.open_gripper()

SAFE mode

with gripper.mode(XenseGripper.ControlMode.SAFE, serial_number="OP000064"):
    gripper.set_control_param(stiffness=0.35)
    gripper.set_position(30, fmax=20)

The previous mode is restored when the with block exits. If you call enable_mode manually, always call disable_mode() before the application exits.