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, vmax=80, fmax=27, timeout=5.0)
    print("reached:", ok)
finally:
    # Close the DDS client and release resources
    gripper.release()

SAFE mode

gripper = XenseGripper.create(mac_addr="d672f584b17a")
try:
    with gripper.mode(XenseGripper.ControlMode.SAFE, serial_number="OP000064"):
        gripper.set_control_param(stiffness=0.35)
        gripper.set_position(30)
finally:
    gripper.release()

In SAFE mode, motion is primarily controlled by the controller parameters; set_position() only sets the target position. The previous mode is restored when the with block exits. If you call enable_mode manually, always call disable_mode() before the application exits.

Always pass serial_number explicitly when entering SAFE mode. Call gripper.release() before the program exits regardless of the control mode used.