pylabrobot.brooks.precise_flex.PreciseFlexGripper#

class pylabrobot.brooks.precise_flex.PreciseFlexGripper(driver: PreciseFlexDriver, closed_gripper_position: float, is_dual_gripper: bool = False)#

Bases: object

The gripper fitted to a PreciseFlex arm: a servoed single gripper, or a dual one.

Reached as driver.gripper. Sends through the driver’s send_command.

Attributes

default_finger_speed_percent

default_grasp_force

jaw_width_range

Methods

__init__(driver, closed_gripper_position[, ...])

move_to_jaw_position(width[, force_sensing])

Move the PreciseFlex gripper jaws.

move_to_jaw_position_firmware_units(position)

Move the gripper to a controller-native joint position.

sense_each_fully_closed()

(Dual gripper only) Whether each gripper's end-of-travel sensor reads it fully closed.

sense_fully_closed()

(Single gripper only) Whether the end-of-travel sensor reads the gripper fully closed.

update_width(width)

Stand the jaws on the resource that models them width apart.
Parameters: