Gripper Component

The gripper component provides an API for opening and closing a device.

If you have a robotic grasping device that can open and close, use a gripper component.

Configuration

To use a robotic gripper, you need to add it to your machine’s configuration. Go to your machine’s CONFIGURE page, and add a model that supports your gripper.

The following list shows the available gripper models. For additional configuration information, click on the model name:

API

The gripper API supports the following methods:

Method Name	Description
Open	Opens the gripper.
Grab	Closes the gripper until it grabs something or closes completely, and returns whether it grabbed something or not.
IsMoving	Returns whether the gripper is actively moving (or attempting to move) under its own power.
Stop	Stops the gripper.
GetGeometries	Get all the geometries associated with the gripper in its current configuration, in the frame of the gripper.
Reconfigure	Reconfigure this resource.
DoCommand	Execute model-specific commands that are not otherwise defined by the component API.
GetResourceName	Get the ResourceName for this gripper with the given name.
Close	Safely shut down the resource and prevent further use.

Troubleshooting

If your gripper is not working as expected, follow these steps:

1. Check your machine logs on the LOGS tab to check for errors.
2. Review your gripper model’s documentation to ensure you have configured all required attributes.
3. Click on the TEST panel on the CONFIGURE or CONTROL tab and test if you can use the gripper there.

If none of these steps work, reach out to us on the Community Discord and we will be happy to help.

Next steps

For general configuration, development, and usage info, see:

You can also use the gripper component with the following services:

• Motion service: To move machines or components of machines
• Frame system service: To configure the positions of your components