Gripper Controls

This page contains information on all functions present within gripper.py and aims to give a clear understanding both of what these functions do and the requirements for any data to be input into them.

These functions allow for control of at least the majority of different grippers offered by ufactory with their arms.

Functions

`gripper_control`

Source code in actions\gripper.py

class gripper_control():

    def __init__(self, arm:XArmAPI):
        self.arm = arm


    def set_gripper_enable(self, enable, **kwargs):
        """
        Enable the gripper

        Args:
            enable: enable or not

                Note: such as code = arm.set_gripper_enable(True) to turn on the Gripper

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_gripper_enable(enable, **kwargs)

    def set_gripper_mode(self, mode, **kwargs):
        """
        Set the gripper mode

        Args:
            mode: 0: location mode

                Note: such as code = arm.set_gripper_mode(0)

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_gripper_mode(mode, **kwargs)

    def set_gripper_speed(self, speed, **kwargs):
        """
        Set the gripper speed

        Args:
            speed: speed

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_gripper_speed(speed, **kwargs)

    def set_gripper_position(self, pos, wait=False, speed=None, auto_enable=False, timeout=None, **kwargs):
        """
        Set the gripper position

        Args:
            pos: position

            wait: wait or not, default is False

            speed: speed, unit: r/min

            auto_enable: auto enable or not, default is False

            timeout: wait time, unit: second, default is 10s

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_gripper_position(pos, wait=wait, speed=speed, auto_enable=auto_enable, timeout=timeout, **kwargs)

    def get_gripper_position(self, **kwargs):
        """
        Get the gripper position (pulse)

        Returns:
            out (tuple[int, int]): tuple((code, pos)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            pos (int): gripper position
        """
        return self.arm.get_gripper_position(**kwargs)

    def get_gripper_err_code(self, **kwargs):
        """
        Get the gripper error code

        Returns:
            out (tuple[int, int]): tuple((code, err_code)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            err_code (int): See the [Gripper Error Code Documentation](./xarm_api_code.md#gripper-error-code) for details.
        """
        return self.arm.get_gripper_err_code(**kwargs)

    def clean_gripper_error(self, **kwargs):
        """
        Clean the gripper error

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.clean_gripper_error(**kwargs)

    def get_gripper_status(self):
        """
        Get the status of the xArm Gripper

        Note:
            1. Only available if gripper_version >= 3.4.3

        Returns:
            out (tuple[int, int]): tuple((code, status)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            status (int):
                status & 0x03 == 0: stop state

                status & 0x03 == 1: move state 

                status & 0x03 == 2: grasp state
        """
        return self.arm.get_gripper_status()

    def get_gripper_g2_position(self, **kwargs):
        """
        Get the position (mm) of the xArm Gripper G2

        Returns:
            out (tuple[int, int]): tuple((code, pos)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            pos (int): gripper position (mm)
        """
        return self.arm.get_gripper_g2_position(**kwargs)

    def set_gripper_g2_position(self, pos, speed=100, force=50, wait=False, timeout=None, **kwargs):
        """
        Set the position of the xArm Gripper G2

        Args:
            pos: gripper pos between 0 and 84, (unit: mm)

            speed: gripper speed between 15 and 225, default is 100, (unit: mm/s)

            force: gripper force between 1 and 100, default is 50

            wait: whether to wait for the xArm Gripper G2 motion to complete, default is False

            timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_gripper_g2_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

    def set_bio_gripper_enable(self, enable=True, wait=True, timeout=3):
        """
        Enable the bio gripper

        Args:
            enable: enable or not

            wait: whether to wait for the bio gripper enable to complete, default is True

            timeout: maximum waiting time(unit: second), default is 3, only available if wait=True

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_bio_gripper_enable(enable, wait=wait, timeout=timeout)

    def set_bio_gripper_speed(self, speed):
        """
        Set the speed of the bio gripper

        Args:
            speed: speed

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_bio_gripper_speed(speed)

    def set_bio_gripper_control_mode(self, mode):
        """
        Set the bio gripper control mode

        Note:
            1. Only available in the new version of BIO Gripper

        Args:
            mode: mode

                0: bio gripper opening and closing mode

                1: position loop mode

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """

        return self.arm.set_bio_gripper_control_mode(mode)

    def set_bio_gripper_force(self, force):
        """
        Set the bio gripper force

        Note:
            1. Only available in the new version of BIO Gripper

        Args:
            force: gripper force between 10 and 100

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """

        return self.arm.set_bio_gripper_force(force)

    def get_bio_gripper_g2_position(self, **kwargs):
        """
        Get the position (mm) of the BIO Gripper G2

        Returns:
            out (tuple[int, int]): tuple((code, pos)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            pos (int): bio gripper g2 position (mm)
        """
        return self.arm.get_bio_gripper_g2_position(**kwargs)

    def set_bio_gripper_g2_position(self, pos, speed=2000, force=100, wait=True, timeout=5, **kwargs):
        """
        Set the position of BIO Gripper G2

        Args:
            pos: gripper pos between 71 and 150, (unit: mm)

            speed: gripper speed between 500 and 4500, default is 2000, (unit: pulse/s)

            force: gripper force between 1 and 100, default is 100

            wait: whether to wait for the BIO Gripper G2 motion to complete, default is False

            timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

        Returns:
            out: tuple((code, robotiq_response))

            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            robotiq_response: See the robotiq documentation
        """
        return self.arm.set_bio_gripper_g2_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

    def open_bio_gripper(self, speed=0, wait=True, timeout=5, **kwargs):
        """
        Open the bio gripper

        Args:
            speed: speed value, default is 0 (speed not set)

            wait: whether to wait for the bio gripper motion to complete, default is True

            timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.open_bio_gripper(speed=speed, wait=wait, timeout=timeout, **kwargs)

    def close_bio_gripper(self, speed=0, wait=True, timeout=5, **kwargs):
        """
        Close the bio gripper

        Args:
            speed: speed value, default is 0 (speed not set)

            wait: whether to wait for the bio gripper motion complete, default is True

            timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.close_bio_gripper(speed=speed, wait=wait, timeout=timeout, **kwargs)

    def get_bio_gripper_status(self):
        """
        Get the status of the bio gripper

        Returns:
            out (tuple[int, int]): tuple((code, status))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            status (int): status
                status & 0x03 == 0: stop

                status & 0x03 == 1: motion

                status & 0x03 == 2: catch

                status & 0x03 == 3: error

                (status >> 2) & 0x03 == 0: not enabled

                (status >> 2) & 0x03 == 1: enabling

                (status >> 2) & 0x03 == 2: enabled
        """
        return self.arm.get_bio_gripper_status()

    def get_bio_gripper_error(self):
        """
        Get the error code of the bio gripper

        Returns:
            out (tuple[int, int]): tuple((code, error_code))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            error_code (int): See the [Bio Gripper Error Code Documentation](./xarm_api_code.md#bio-gripper-error-code) for details. 
        """
        return self.arm.get_bio_gripper_error()

    def clean_bio_gripper_error(self):
        """
        Clean the error code of the bio gripper

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.clean_bio_gripper_error()

    def robotiq_reset(self):
        """
        Reset the robotiq gripper (clear previous activation if any)

        Returns:
            out (tuple[int, int]): tuple((code, robotiq_response))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            robotiq_response (int): See the robotiq documentation
        """
        return self.arm.robotiq_reset()

    def robotiq_set_activate(self, wait=True, timeout=3):
        """
        Activate the robotiq gripper if it is not already active

        Args:
            wait: whether to wait for the robotiq activate to complete, default is True

            timeout: maximum waiting time(unit: second), default is 3, only available if wait=True

        Returns:
            out (tuple[int, int]): tuple((code, robotiq_response))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            robotiq_response (int): See the robotiq documentation 
        """
        return self.arm.robotiq_set_activate(wait=wait, timeout=timeout)

    def robotiq_set_position(self, pos, speed=0xFF, force=0xFF, wait=True, timeout=5, **kwargs):
        """
        Go to the position with determined speed and force.

        Args:
            pos: position of the gripper. Integer between 0 and 255. 0 being the open position and 255 being the close position.

            speed: gripper speed between 0 and 255

            force: gripper force between 0 and 255

            wait: whether to wait for the robotiq motion complete, default is True

            timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

        Returns:
            out (tuple[int, int]): tuple((code, robotiq_response))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            robotiq_response (int): See the robotiq documentation 
        """
        return self.arm.robotiq_set_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

    def robotiq_open(self, speed=0xFF, force=0xFF, wait=True, timeout=5, **kwargs):
        """
        Open the robotiq gripper

        Args:
            speed: gripper speed between 0 and 255

            force: gripper force between 0 and 255

            wait: whether to wait for the robotiq motion to complete, default is True

            timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

        Returns:
            out (tuple[int, int]): tuple((code, robotiq_response))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            robotiq_response (int): See the robotiq documentation 
        """
        return self.arm.robotiq_open(speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

    def robotiq_close(self, speed=0xFF, force=0xFF, wait=True, timeout=5, **kwargs):
        """
        Close the robotiq gripper

        Args:
            speed: gripper speed between 0 and 255

            force: gripper force between 0 and 255

            wait: whether to wait for the robotiq motion to complete, default is True

            timeout: maximum waiting time(unit: second), default is 3, only available if wait=True

        Returns:
            out (tuple[int, int]): tuple((code, robotiq_response))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            robotiq_response (int): See the robotiq documentation
        """
        return self.arm.robotiq_close(speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

    def robotiq_get_status(self, number_of_registers=3):
        """
        Reading the status of robotiq gripper

        Args:
            number_of_registers: number of registers, 1/2/3, default is 3

                number_of_registers=1: reading the content of register 0x07D0

                number_of_registers=2: reading the content of register 0x07D0/0x07D1

                number_of_registers=3: reading the content of register 0x07D0/0x07D1/0x07D2

        Note: 
            register 0x07D0: Register GRIPPER STATUS

            register 0x07D1: Register FAULT STATUS and register POSITION REQUEST ECHO

            register 0x07D2: Register POSITION and register CURRENT

        Returns:
            out (tuple[int, int]): tuple((code, robotiq_response))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            robotiq_response (int): See the robotiq documentation
        """
        return self.arm.robotiq_get_status(number_of_registers=number_of_registers)

    def get_vacuum_gripper(self, hardware_version=1):
        """
        Get the state of the Vacuum Gripper

        Args:
            hardware_version: hardware version

                1: Plug-in Connection, default

                2: Contact Connection

        Returns:
            out (tuple[int, int]): tuple((code, state)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            state (int): state of the Vacuum Gripper

                -1: Vacuum Gripper is off  

                0: Object not picked by vacuum gripper 

                1: Object picked by vacuum gripper
        """
        return self.arm.get_vacuum_gripper(hardware_version=hardware_version)

    def set_vacuum_gripper(self, on, wait=False, timeout=3, delay_sec=None, sync=True, hardware_version=1):
        """
        Set the Vacuum Gripper ON/OFF

        Args:
            on: open or not

                on=True: equivalent to calling `set_tgpio_digital(0, 1)` and `set_tgpio_digital(1, 0)`

                on=False: equivalent to calling `set_tgpio_digital(0, 0)` and `set_tgpio_digital(1, 1)`

            wait: wait the object picked by the vacuum gripper or not, default is False

            timeout: wait time, unit:second, default is 3s

            delay_sec: delay effective time from the current start, in seconds, default is None(effective immediately)

            sync: whether to execute in the motion queue, set to False to execute immediately(default is True)

                1. only available if firmware_version >= 2.4.101

                2. only available if delay_sec <= 0

            hardware_version: hardware version

                1: Plug-in Connection, default

                2: Contact Connection

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_vacuum_gripper(on, wait=wait, timeout=timeout, delay_sec=delay_sec, sync=sync, hardware_version=hardware_version)

    def set_dhpgc_gripper_activate(self, wait=True, timeout=3):
        """
        Activate the DH-PGC-140-50 gripper if it is not already active

        Args:
            wait: whether to wait for the DH-PGC-140-50  gripper activate complete, default is True

            timeout: maximum waiting time(unit: second), default is 3, only available if wait=True

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_dhpgc_gripper_activate(wait=wait, timeout=timeout)

    def set_dhpgc_gripper_position(self, pos, speed=50, force=50, wait=True, timeout=5, **kwargs):
        """
        Set the position of the DH-PGC-140-50 gripper

        Args:
            pos: gripper pos between 0 and 1000

            speed: gripper speed between 1 and 100

            force: gripper force between 20 and 100

            wait: whether to wait for the DH-PGC-140-50 gripper motion to complete, default is True

            timeout: maximum waiting time(unit: second), default is 5s, only available if wait=True

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_dhpgc_gripper_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

    def open_lite6_gripper(self, sync=True):
        """
        Open the gripper of Lite6 series robotic arms

        Note:
            1. only available if firmware_version >= 1.10.0
            2. this API can only be used on Lite6 series robotic arms

        Args:
            sync: whether to execute in the motion queue, set to False to execute immediately(default is True)

                1. only available if firmware_version >= 2.4.101

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details. 
        """
        return self.arm.open_lite6_gripper(sync=sync)

    def close_lite6_gripper(self, sync=True):
        """
        Close the gripper of Lite6 series robotic arms

        Note:
            1. only available if firmware_version >= 1.10.0
            2. this API can only be used on Lite6 series robotic arms

        Args:
            sync: whether to execute in the motion queue, set to False to execute immediately(default is True)

                1. only available if firmware_version >= 2.4.101

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.close_lite6_gripper(sync=sync)

    def stop_lite6_gripper(self, sync=True):
        """
        Stop the gripper of Lite6 series robotic arms

        Note:
            1. only available if firmware_version >= 1.10.0
            2. this API can only be used on Lite6 series robotic arms

        Args:
            sync: whether to execute in the motion queue, set to False to execute immediately(default is True)

                1. only available if firmware_version >= 2.4.101

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.stop_lite6_gripper(sync=sync)

`clean_bio_gripper_error()`

Clean the error code of the bio gripper

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def clean_bio_gripper_error(self):
    """
    Clean the error code of the bio gripper

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.clean_bio_gripper_error()

`clean_gripper_error(**kwargs)`

Clean the gripper error

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def clean_gripper_error(self, **kwargs):
    """
    Clean the gripper error

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.clean_gripper_error(**kwargs)

`close_bio_gripper(speed=0, wait=True, timeout=5, **kwargs)`

Close the bio gripper

Parameters:

Name	Description	Default
`speed`	speed value, default is 0 (speed not set)	`0`
`wait`	whether to wait for the bio gripper motion complete, default is True	`True`
`timeout`	maximum waiting time(unit: second), default is 5, only available if wait=True	`5`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def close_bio_gripper(self, speed=0, wait=True, timeout=5, **kwargs):
    """
    Close the bio gripper

    Args:
        speed: speed value, default is 0 (speed not set)

        wait: whether to wait for the bio gripper motion complete, default is True

        timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.close_bio_gripper(speed=speed, wait=wait, timeout=timeout, **kwargs)

`close_lite6_gripper(sync=True)`

Close the gripper of Lite6 series robotic arms

Note

only available if firmware_version >= 1.10.0
this API can only be used on Lite6 series robotic arms

Parameters:

Name	Type	Description	Default
`sync`		whether to execute in the motion queue, set to False to execute immediately(default is True) only available if firmware_version >= 2.4.101	`True`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def close_lite6_gripper(self, sync=True):
    """
    Close the gripper of Lite6 series robotic arms

    Note:
        1. only available if firmware_version >= 1.10.0
        2. this API can only be used on Lite6 series robotic arms

    Args:
        sync: whether to execute in the motion queue, set to False to execute immediately(default is True)

            1. only available if firmware_version >= 2.4.101

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.close_lite6_gripper(sync=sync)

`get_bio_gripper_error()`

Get the error code of the bio gripper

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, error_code))
`code`	`int`	See the API Code Documentation for details.
`error_code`	`int`	See the Bio Gripper Error Code Documentation for details.

Source code in actions\gripper.py

def get_bio_gripper_error(self):
    """
    Get the error code of the bio gripper

    Returns:
        out (tuple[int, int]): tuple((code, error_code))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        error_code (int): See the [Bio Gripper Error Code Documentation](./xarm_api_code.md#bio-gripper-error-code) for details. 
    """
    return self.arm.get_bio_gripper_error()

`get_bio_gripper_g2_position(**kwargs)`

Get the position (mm) of the BIO Gripper G2

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, pos)), returned result is only corrent when code is 0.
`code`	`int`	See the API Code Documentation for details.
`pos`	`int`	bio gripper g2 position (mm)

Source code in actions\gripper.py

def get_bio_gripper_g2_position(self, **kwargs):
    """
    Get the position (mm) of the BIO Gripper G2

    Returns:
        out (tuple[int, int]): tuple((code, pos)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        pos (int): bio gripper g2 position (mm)
    """
    return self.arm.get_bio_gripper_g2_position(**kwargs)

`get_bio_gripper_status()`

Get the status of the bio gripper

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, status))
`code`	`int`	See the API Code Documentation for details.
`status`	`int`	status status & 0x03 == 0: stop status & 0x03 == 1: motion status & 0x03 == 2: catch status & 0x03 == 3: error (status >> 2) & 0x03 == 0: not enabled (status >> 2) & 0x03 == 1: enabling (status >> 2) & 0x03 == 2: enabled

Source code in actions\gripper.py

def get_bio_gripper_status(self):
    """
    Get the status of the bio gripper

    Returns:
        out (tuple[int, int]): tuple((code, status))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        status (int): status
            status & 0x03 == 0: stop

            status & 0x03 == 1: motion

            status & 0x03 == 2: catch

            status & 0x03 == 3: error

            (status >> 2) & 0x03 == 0: not enabled

            (status >> 2) & 0x03 == 1: enabling

            (status >> 2) & 0x03 == 2: enabled
    """
    return self.arm.get_bio_gripper_status()

`get_gripper_err_code(**kwargs)`

Get the gripper error code

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, err_code)), returned result is only corrent when code is 0.
`code`	`int`	See the API Code Documentation for details.
`err_code`	`int`	See the Gripper Error Code Documentation for details.

Source code in actions\gripper.py

def get_gripper_err_code(self, **kwargs):
    """
    Get the gripper error code

    Returns:
        out (tuple[int, int]): tuple((code, err_code)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        err_code (int): See the [Gripper Error Code Documentation](./xarm_api_code.md#gripper-error-code) for details.
    """
    return self.arm.get_gripper_err_code(**kwargs)

`get_gripper_g2_position(**kwargs)`

Get the position (mm) of the xArm Gripper G2

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, pos)), returned result is only corrent when code is 0.
`code`	`int`	See the API Code Documentation for details.
`pos`	`int`	gripper position (mm)

Source code in actions\gripper.py

def get_gripper_g2_position(self, **kwargs):
    """
    Get the position (mm) of the xArm Gripper G2

    Returns:
        out (tuple[int, int]): tuple((code, pos)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        pos (int): gripper position (mm)
    """
    return self.arm.get_gripper_g2_position(**kwargs)

`get_gripper_position(**kwargs)`

Get the gripper position (pulse)

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, pos)), returned result is only corrent when code is 0.
`code`	`int`	See the API Code Documentation for details.
`pos`	`int`	gripper position

Source code in actions\gripper.py

def get_gripper_position(self, **kwargs):
    """
    Get the gripper position (pulse)

    Returns:
        out (tuple[int, int]): tuple((code, pos)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        pos (int): gripper position
    """
    return self.arm.get_gripper_position(**kwargs)

`get_gripper_status()`

Get the status of the xArm Gripper

Note

Only available if gripper_version >= 3.4.3

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, status)), returned result is only corrent when code is 0.
`code`	`int`	See the API Code Documentation for details.
`status`	`int`	status & 0x03 == 0: stop state status & 0x03 == 1: move state status & 0x03 == 2: grasp state

Source code in actions\gripper.py

def get_gripper_status(self):
    """
    Get the status of the xArm Gripper

    Note:
        1. Only available if gripper_version >= 3.4.3

    Returns:
        out (tuple[int, int]): tuple((code, status)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        status (int):
            status & 0x03 == 0: stop state

            status & 0x03 == 1: move state 

            status & 0x03 == 2: grasp state
    """
    return self.arm.get_gripper_status()

`get_vacuum_gripper(hardware_version=1)`

Get the state of the Vacuum Gripper

Parameters:

Name	Type	Description	Default
`hardware_version`		hardware version 1: Plug-in Connection, default 2: Contact Connection	`1`

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, state)), returned result is only corrent when code is 0.
`code`	`int`	See the API Code Documentation for details.
`state`	`int`	state of the Vacuum Gripper -1: Vacuum Gripper is off 0: Object not picked by vacuum gripper 1: Object picked by vacuum gripper

Source code in actions\gripper.py

def get_vacuum_gripper(self, hardware_version=1):
    """
    Get the state of the Vacuum Gripper

    Args:
        hardware_version: hardware version

            1: Plug-in Connection, default

            2: Contact Connection

    Returns:
        out (tuple[int, int]): tuple((code, state)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        state (int): state of the Vacuum Gripper

            -1: Vacuum Gripper is off  

            0: Object not picked by vacuum gripper 

            1: Object picked by vacuum gripper
    """
    return self.arm.get_vacuum_gripper(hardware_version=hardware_version)

`open_bio_gripper(speed=0, wait=True, timeout=5, **kwargs)`

Open the bio gripper

Parameters:

Name	Description	Default
`speed`	speed value, default is 0 (speed not set)	`0`
`wait`	whether to wait for the bio gripper motion to complete, default is True	`True`
`timeout`	maximum waiting time(unit: second), default is 5, only available if wait=True	`5`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def open_bio_gripper(self, speed=0, wait=True, timeout=5, **kwargs):
    """
    Open the bio gripper

    Args:
        speed: speed value, default is 0 (speed not set)

        wait: whether to wait for the bio gripper motion to complete, default is True

        timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.open_bio_gripper(speed=speed, wait=wait, timeout=timeout, **kwargs)

`open_lite6_gripper(sync=True)`

Open the gripper of Lite6 series robotic arms

Note

only available if firmware_version >= 1.10.0
this API can only be used on Lite6 series robotic arms

Parameters:

Name	Type	Description	Default
`sync`		whether to execute in the motion queue, set to False to execute immediately(default is True) only available if firmware_version >= 2.4.101	`True`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def open_lite6_gripper(self, sync=True):
    """
    Open the gripper of Lite6 series robotic arms

    Note:
        1. only available if firmware_version >= 1.10.0
        2. this API can only be used on Lite6 series robotic arms

    Args:
        sync: whether to execute in the motion queue, set to False to execute immediately(default is True)

            1. only available if firmware_version >= 2.4.101

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details. 
    """
    return self.arm.open_lite6_gripper(sync=sync)

`robotiq_close(speed=255, force=255, wait=True, timeout=5, **kwargs)`

Close the robotiq gripper

Parameters:

Name	Description	Default
`speed`	gripper speed between 0 and 255	`255`
`force`	gripper force between 0 and 255	`255`
`wait`	whether to wait for the robotiq motion to complete, default is True	`True`
`timeout`	maximum waiting time(unit: second), default is 3, only available if wait=True	`5`

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, robotiq_response))
`code`	`int`	See the API Code Documentation for details.
`robotiq_response`	`int`	See the robotiq documentation

Source code in actions\gripper.py

def robotiq_close(self, speed=0xFF, force=0xFF, wait=True, timeout=5, **kwargs):
    """
    Close the robotiq gripper

    Args:
        speed: gripper speed between 0 and 255

        force: gripper force between 0 and 255

        wait: whether to wait for the robotiq motion to complete, default is True

        timeout: maximum waiting time(unit: second), default is 3, only available if wait=True

    Returns:
        out (tuple[int, int]): tuple((code, robotiq_response))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        robotiq_response (int): See the robotiq documentation
    """
    return self.arm.robotiq_close(speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

`robotiq_get_status(number_of_registers=3)`

Reading the status of robotiq gripper

Parameters:

Name	Type	Description	Default
`number_of_registers`		number of registers, 1/2/3, default is 3 number_of_registers=1: reading the content of register 0x07D0 number_of_registers=2: reading the content of register 0x07D0/0x07D1 number_of_registers=3: reading the content of register 0x07D0/0x07D1/0x07D2	`3`

Note

register 0x07D0: Register GRIPPER STATUS

register 0x07D1: Register FAULT STATUS and register POSITION REQUEST ECHO

register 0x07D2: Register POSITION and register CURRENT

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, robotiq_response))
`code`	`int`	See the API Code Documentation for details.
`robotiq_response`	`int`	See the robotiq documentation

Source code in actions\gripper.py

def robotiq_get_status(self, number_of_registers=3):
    """
    Reading the status of robotiq gripper

    Args:
        number_of_registers: number of registers, 1/2/3, default is 3

            number_of_registers=1: reading the content of register 0x07D0

            number_of_registers=2: reading the content of register 0x07D0/0x07D1

            number_of_registers=3: reading the content of register 0x07D0/0x07D1/0x07D2

    Note: 
        register 0x07D0: Register GRIPPER STATUS

        register 0x07D1: Register FAULT STATUS and register POSITION REQUEST ECHO

        register 0x07D2: Register POSITION and register CURRENT

    Returns:
        out (tuple[int, int]): tuple((code, robotiq_response))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        robotiq_response (int): See the robotiq documentation
    """
    return self.arm.robotiq_get_status(number_of_registers=number_of_registers)

`robotiq_open(speed=255, force=255, wait=True, timeout=5, **kwargs)`

Open the robotiq gripper

Parameters:

Name	Description	Default
`speed`	gripper speed between 0 and 255	`255`
`force`	gripper force between 0 and 255	`255`
`wait`	whether to wait for the robotiq motion to complete, default is True	`True`
`timeout`	maximum waiting time(unit: second), default is 5, only available if wait=True	`5`

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, robotiq_response))
`code`	`int`	See the API Code Documentation for details.
`robotiq_response`	`int`	See the robotiq documentation

Source code in actions\gripper.py

def robotiq_open(self, speed=0xFF, force=0xFF, wait=True, timeout=5, **kwargs):
    """
    Open the robotiq gripper

    Args:
        speed: gripper speed between 0 and 255

        force: gripper force between 0 and 255

        wait: whether to wait for the robotiq motion to complete, default is True

        timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

    Returns:
        out (tuple[int, int]): tuple((code, robotiq_response))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        robotiq_response (int): See the robotiq documentation 
    """
    return self.arm.robotiq_open(speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

`robotiq_reset()`

Reset the robotiq gripper (clear previous activation if any)

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, robotiq_response))
`code`	`int`	See the API Code Documentation for details.
`robotiq_response`	`int`	See the robotiq documentation

Source code in actions\gripper.py

def robotiq_reset(self):
    """
    Reset the robotiq gripper (clear previous activation if any)

    Returns:
        out (tuple[int, int]): tuple((code, robotiq_response))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        robotiq_response (int): See the robotiq documentation
    """
    return self.arm.robotiq_reset()

`robotiq_set_activate(wait=True, timeout=3)`

Activate the robotiq gripper if it is not already active

Parameters:

Name	Type	Description	Default
`wait`		whether to wait for the robotiq activate to complete, default is True	`True`
`timeout`		maximum waiting time(unit: second), default is 3, only available if wait=True	`3`

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, robotiq_response))
`code`	`int`	See the API Code Documentation for details.
`robotiq_response`	`int`	See the robotiq documentation

Source code in actions\gripper.py

def robotiq_set_activate(self, wait=True, timeout=3):
    """
    Activate the robotiq gripper if it is not already active

    Args:
        wait: whether to wait for the robotiq activate to complete, default is True

        timeout: maximum waiting time(unit: second), default is 3, only available if wait=True

    Returns:
        out (tuple[int, int]): tuple((code, robotiq_response))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        robotiq_response (int): See the robotiq documentation 
    """
    return self.arm.robotiq_set_activate(wait=wait, timeout=timeout)

`robotiq_set_position(pos, speed=255, force=255, wait=True, timeout=5, **kwargs)`

Go to the position with determined speed and force.

Parameters:

Name	Description	Default
`pos`	position of the gripper. Integer between 0 and 255. 0 being the open position and 255 being the close position.	required
`speed`	gripper speed between 0 and 255	`255`
`force`	gripper force between 0 and 255	`255`
`wait`	whether to wait for the robotiq motion complete, default is True	`True`
`timeout`	maximum waiting time(unit: second), default is 5, only available if wait=True	`5`

Returns:

Name	Type	Description
`out`	`tuple[int, int]`	tuple((code, robotiq_response))
`code`	`int`	See the API Code Documentation for details.
`robotiq_response`	`int`	See the robotiq documentation

Source code in actions\gripper.py

def robotiq_set_position(self, pos, speed=0xFF, force=0xFF, wait=True, timeout=5, **kwargs):
    """
    Go to the position with determined speed and force.

    Args:
        pos: position of the gripper. Integer between 0 and 255. 0 being the open position and 255 being the close position.

        speed: gripper speed between 0 and 255

        force: gripper force between 0 and 255

        wait: whether to wait for the robotiq motion complete, default is True

        timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

    Returns:
        out (tuple[int, int]): tuple((code, robotiq_response))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        robotiq_response (int): See the robotiq documentation 
    """
    return self.arm.robotiq_set_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

`set_bio_gripper_control_mode(mode)`

Set the bio gripper control mode

Note

Only available in the new version of BIO Gripper

Parameters:

Name	Type	Description	Default
`mode`		mode 0: bio gripper opening and closing mode 1: position loop mode	required

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_bio_gripper_control_mode(self, mode):
    """
    Set the bio gripper control mode

    Note:
        1. Only available in the new version of BIO Gripper

    Args:
        mode: mode

            0: bio gripper opening and closing mode

            1: position loop mode

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """

    return self.arm.set_bio_gripper_control_mode(mode)

`set_bio_gripper_enable(enable=True, wait=True, timeout=3)`

Enable the bio gripper

Parameters:

Name	Description	Default
`enable`	enable or not	`True`
`wait`	whether to wait for the bio gripper enable to complete, default is True	`True`
`timeout`	maximum waiting time(unit: second), default is 3, only available if wait=True	`3`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_bio_gripper_enable(self, enable=True, wait=True, timeout=3):
    """
    Enable the bio gripper

    Args:
        enable: enable or not

        wait: whether to wait for the bio gripper enable to complete, default is True

        timeout: maximum waiting time(unit: second), default is 3, only available if wait=True

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_bio_gripper_enable(enable, wait=wait, timeout=timeout)

`set_bio_gripper_force(force)`

Set the bio gripper force

Note

Only available in the new version of BIO Gripper

Parameters:

Name	Type	Description	Default
`force`		gripper force between 10 and 100	required

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_bio_gripper_force(self, force):
    """
    Set the bio gripper force

    Note:
        1. Only available in the new version of BIO Gripper

    Args:
        force: gripper force between 10 and 100

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """

    return self.arm.set_bio_gripper_force(force)

`set_bio_gripper_g2_position(pos, speed=2000, force=100, wait=True, timeout=5, **kwargs)`

Set the position of BIO Gripper G2

Parameters:

Name	Description	Default
`pos`	gripper pos between 71 and 150, (unit: mm)	required
`speed`	gripper speed between 500 and 4500, default is 2000, (unit: pulse/s)	`2000`
`force`	gripper force between 1 and 100, default is 100	`100`
`wait`	whether to wait for the BIO Gripper G2 motion to complete, default is False	`True`
`timeout`	maximum waiting time(unit: second), default is 5, only available if wait=True	`5`

Returns:

Name	Type	Description
`out`		tuple((code, robotiq_response))
`code`		See the API Code Documentation for details.
`robotiq_response`		See the robotiq documentation

Source code in actions\gripper.py

def set_bio_gripper_g2_position(self, pos, speed=2000, force=100, wait=True, timeout=5, **kwargs):
    """
    Set the position of BIO Gripper G2

    Args:
        pos: gripper pos between 71 and 150, (unit: mm)

        speed: gripper speed between 500 and 4500, default is 2000, (unit: pulse/s)

        force: gripper force between 1 and 100, default is 100

        wait: whether to wait for the BIO Gripper G2 motion to complete, default is False

        timeout: maximum waiting time(unit: second), default is 5, only available if wait=True

    Returns:
        out: tuple((code, robotiq_response))

        code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        robotiq_response: See the robotiq documentation
    """
    return self.arm.set_bio_gripper_g2_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

`set_bio_gripper_speed(speed)`

Set the speed of the bio gripper

Parameters:

Name	Type	Description	Default
`speed`		speed	required

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_bio_gripper_speed(self, speed):
    """
    Set the speed of the bio gripper

    Args:
        speed: speed

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_bio_gripper_speed(speed)

`set_dhpgc_gripper_activate(wait=True, timeout=3)`

Activate the DH-PGC-140-50 gripper if it is not already active

Parameters:

Name	Type	Description	Default
`wait`		whether to wait for the DH-PGC-140-50 gripper activate complete, default is True	`True`
`timeout`		maximum waiting time(unit: second), default is 3, only available if wait=True	`3`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_dhpgc_gripper_activate(self, wait=True, timeout=3):
    """
    Activate the DH-PGC-140-50 gripper if it is not already active

    Args:
        wait: whether to wait for the DH-PGC-140-50  gripper activate complete, default is True

        timeout: maximum waiting time(unit: second), default is 3, only available if wait=True

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_dhpgc_gripper_activate(wait=wait, timeout=timeout)

`set_dhpgc_gripper_position(pos, speed=50, force=50, wait=True, timeout=5, **kwargs)`

Set the position of the DH-PGC-140-50 gripper

Parameters:

Name	Description	Default
`pos`	gripper pos between 0 and 1000	required
`speed`	gripper speed between 1 and 100	`50`
`force`	gripper force between 20 and 100	`50`
`wait`	whether to wait for the DH-PGC-140-50 gripper motion to complete, default is True	`True`
`timeout`	maximum waiting time(unit: second), default is 5s, only available if wait=True	`5`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_dhpgc_gripper_position(self, pos, speed=50, force=50, wait=True, timeout=5, **kwargs):
    """
    Set the position of the DH-PGC-140-50 gripper

    Args:
        pos: gripper pos between 0 and 1000

        speed: gripper speed between 1 and 100

        force: gripper force between 20 and 100

        wait: whether to wait for the DH-PGC-140-50 gripper motion to complete, default is True

        timeout: maximum waiting time(unit: second), default is 5s, only available if wait=True

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_dhpgc_gripper_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

`set_gripper_enable(enable, **kwargs)`

Enable the gripper

Parameters:

Name	Type	Description	Default
`enable`		enable or not Note: such as code = arm.set_gripper_enable(True) to turn on the Gripper	required

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_gripper_enable(self, enable, **kwargs):
    """
    Enable the gripper

    Args:
        enable: enable or not

            Note: such as code = arm.set_gripper_enable(True) to turn on the Gripper

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_gripper_enable(enable, **kwargs)

`set_gripper_g2_position(pos, speed=100, force=50, wait=False, timeout=None, **kwargs)`

Set the position of the xArm Gripper G2

Parameters:

Name	Description	Default
`pos`	gripper pos between 0 and 84, (unit: mm)	required
`speed`	gripper speed between 15 and 225, default is 100, (unit: mm/s)	`100`
`force`	gripper force between 1 and 100, default is 50	`50`
`wait`	whether to wait for the xArm Gripper G2 motion to complete, default is False	`False`
`timeout`	maximum waiting time(unit: second), default is 10s, only valid if wait is True	`None`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_gripper_g2_position(self, pos, speed=100, force=50, wait=False, timeout=None, **kwargs):
    """
    Set the position of the xArm Gripper G2

    Args:
        pos: gripper pos between 0 and 84, (unit: mm)

        speed: gripper speed between 15 and 225, default is 100, (unit: mm/s)

        force: gripper force between 1 and 100, default is 50

        wait: whether to wait for the xArm Gripper G2 motion to complete, default is False

        timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_gripper_g2_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)

`set_gripper_mode(mode, **kwargs)`

Set the gripper mode

Parameters:

Name	Type	Description	Default
`mode`		0: location mode Note: such as code = arm.set_gripper_mode(0)	required

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_gripper_mode(self, mode, **kwargs):
    """
    Set the gripper mode

    Args:
        mode: 0: location mode

            Note: such as code = arm.set_gripper_mode(0)

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_gripper_mode(mode, **kwargs)

`set_gripper_position(pos, wait=False, speed=None, auto_enable=False, timeout=None, **kwargs)`

Set the gripper position

Parameters:

Name	Description	Default
`pos`	position	required
`wait`	wait or not, default is False	`False`
`speed`	speed, unit: r/min	`None`
`auto_enable`	auto enable or not, default is False	`False`
`timeout`	wait time, unit: second, default is 10s	`None`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_gripper_position(self, pos, wait=False, speed=None, auto_enable=False, timeout=None, **kwargs):
    """
    Set the gripper position

    Args:
        pos: position

        wait: wait or not, default is False

        speed: speed, unit: r/min

        auto_enable: auto enable or not, default is False

        timeout: wait time, unit: second, default is 10s

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_gripper_position(pos, wait=wait, speed=speed, auto_enable=auto_enable, timeout=timeout, **kwargs)

`set_gripper_speed(speed, **kwargs)`

Set the gripper speed

Parameters:

Name	Type	Description	Default
`speed`		speed	required

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_gripper_speed(self, speed, **kwargs):
    """
    Set the gripper speed

    Args:
        speed: speed

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_gripper_speed(speed, **kwargs)

`set_vacuum_gripper(on, wait=False, timeout=3, delay_sec=None, sync=True, hardware_version=1)`

Set the Vacuum Gripper ON/OFF

Parameters:

Name	Description	Default
`on`	open or not on=True: equivalent to calling `set_tgpio_digital(0, 1)` and `set_tgpio_digital(1, 0)` on=False: equivalent to calling `set_tgpio_digital(0, 0)` and `set_tgpio_digital(1, 1)`	required
`wait`	wait the object picked by the vacuum gripper or not, default is False	`False`
`timeout`	wait time, unit:second, default is 3s	`3`
`delay_sec`	delay effective time from the current start, in seconds, default is None(effective immediately)	`None`
`sync`	whether to execute in the motion queue, set to False to execute immediately(default is True) only available if firmware_version >= 2.4.101 only available if delay_sec <= 0	`True`
`hardware_version`	hardware version 1: Plug-in Connection, default 2: Contact Connection	`1`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def set_vacuum_gripper(self, on, wait=False, timeout=3, delay_sec=None, sync=True, hardware_version=1):
    """
    Set the Vacuum Gripper ON/OFF

    Args:
        on: open or not

            on=True: equivalent to calling `set_tgpio_digital(0, 1)` and `set_tgpio_digital(1, 0)`

            on=False: equivalent to calling `set_tgpio_digital(0, 0)` and `set_tgpio_digital(1, 1)`

        wait: wait the object picked by the vacuum gripper or not, default is False

        timeout: wait time, unit:second, default is 3s

        delay_sec: delay effective time from the current start, in seconds, default is None(effective immediately)

        sync: whether to execute in the motion queue, set to False to execute immediately(default is True)

            1. only available if firmware_version >= 2.4.101

            2. only available if delay_sec <= 0

        hardware_version: hardware version

            1: Plug-in Connection, default

            2: Contact Connection

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_vacuum_gripper(on, wait=wait, timeout=timeout, delay_sec=delay_sec, sync=sync, hardware_version=hardware_version)

`stop_lite6_gripper(sync=True)`

Stop the gripper of Lite6 series robotic arms

Note

only available if firmware_version >= 1.10.0
this API can only be used on Lite6 series robotic arms

Parameters:

Name	Type	Description	Default
`sync`		whether to execute in the motion queue, set to False to execute immediately(default is True) only available if firmware_version >= 2.4.101	`True`

Returns:

Name	Type	Description
`code`	`int`	See the API Code Documentation for details.

Source code in actions\gripper.py

def stop_lite6_gripper(self, sync=True):
    """
    Stop the gripper of Lite6 series robotic arms

    Note:
        1. only available if firmware_version >= 1.10.0
        2. this API can only be used on Lite6 series robotic arms

    Args:
        sync: whether to execute in the motion queue, set to False to execute immediately(default is True)

            1. only available if firmware_version >= 2.4.101

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.stop_lite6_gripper(sync=sync)