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:
Add support for other models
If none of the existing models fit your use case, you can create a modular resource to add support for it.
Support Notice
There is currently no support for this component in viam-micro-server.
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:
- Check your machine logs on the LOGS tab to check for errors.
- Review your gripper model’s documentation to ensure you have configured all required attributes.
- 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
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