Overview

xensegripper provides Python control APIs for Xense grippers and supports local serial connections or remote compute-unit connections. The remote XenseTCPGripper provides three control modes:

POSITIONPosition control, the default mode.

SPEEDClosed-loop speed control; positive values close the gripper, negative values open it, and 0 stops it.

SAFESafe control mode using tactile sensor feedback.

The local XenseSerialGripper provides position and speed control directly and does not support the mode() context manager or SAFE mode.

The public position coordinate is 0 mm fully closed and 85 mm fully open. Speed and force limits are also enforced by firmware, so validate inputs in the application.

Current supported versions

This documentation (latest) targets the following releases. Use a matching or newer package when following along:

• xensegripper: 1.3.0
• XenseGripperGui (desktop control app): V2.0.3