# Control your gripper with the gripper API

Give commands for opening and closing a gripper device.
> Source: https://docs.viam.com/reference/apis/components/gripper/


The gripper API allows you to give commands to your [gripper components](/reference/components/gripper/) for opening and closing a device.

The gripper component supports the following methods:

<!-- prettier-ignore -->
| Method Name | Description |
| ----------- | ----------- |
| [`Open`](/reference/apis/components/gripper/#open) | Opens the gripper. |
| [`Grab`](/reference/apis/components/gripper/#grab) | Closes the gripper until it grabs something or closes completely, and returns whether it grabbed something or not. |
| [`IsMoving`](/reference/apis/components/gripper/#ismoving) | Returns whether the gripper is actively moving (or attempting to move) under its own power. |
| [`IsHoldingSomething`](/reference/apis/components/gripper/#isholdingsomething) | Return if the gripper is holding something. |
| [`Stop`](/reference/apis/components/gripper/#stop) | Stops the gripper. |
| [`GetGeometries`](/reference/apis/components/gripper/#getgeometries) | Get all the geometries associated with the gripper in its current configuration, in the frame of the gripper. |
| [`GetCurrentInputs`](/reference/apis/components/gripper/#getcurrentinputs) | Get the current joint input values of the gripper. |
| [`GoToInputs`](/reference/apis/components/gripper/#gotoinputs) | Move the gripper to the specified joint input values. |
| [`Reconfigure`](/reference/apis/components/gripper/#reconfigure) | Reconfigure this resource. |
| [`DoCommand`](/reference/apis/components/gripper/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. |
| [`GetStatus`](/reference/apis/components/gripper/#getstatus) | Get the current status of the gripper as a map of key-value pairs describing its state. |
| [`GetKinematics`](/reference/apis/components/gripper/#getkinematics) | Get the kinematics information associated with the gripper as the format and byte contents of the kinematics file. |
| [`GetResourceName`](/reference/apis/components/gripper/#getresourcename) | Get the `ResourceName` for this gripper. |
| [`Close`](/reference/apis/components/gripper/#close) | Safely shut down the resource and prevent further use. |


## API

### Open

Opens the gripper.

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**Parameters:**

- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- None.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Open the gripper.
await my_gripper.open()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.open).

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{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
myGripper, err := gripper.FromProvider(machine, "my_gripper")

// Open the gripper.
err := myGripper.Open(context.Background(), nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/gripper#Gripper).

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**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<void>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Open the gripper
await gripper.open();
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#open).

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{{% tab name="Flutter" %}}

**Parameters:**

- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<void>

**Example:**

```dart {class="line-numbers linkable-line-numbers"}
await myGripper.open();
```

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/open.html).

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### Grab

Closes the gripper until it grabs something or closes completely, and returns whether it grabbed something or not.

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**Parameters:**

- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- ([bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): :   Indicates if the gripper grabbed something.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Grab with the gripper.
grabbed = await my_gripper.grab()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.grab).

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{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(bool)](https://pkg.go.dev/builtin#bool):  True if the gripper grabbed something with non-zero thickness.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
myGripper, err := gripper.FromProvider(machine, "my_gripper")

// Grab with the gripper.
grabbed, err := myGripper.Grab(context.Background(), nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/gripper#Gripper).

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**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<void>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Close the gripper to grab
await gripper.grab();
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#grab).

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{{% tab name="Flutter" %}}

**Parameters:**

- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<void>

**Example:**

```dart {class="line-numbers linkable-line-numbers"}
await myGripper.grab();
```

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/grab.html).

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### IsMoving

Returns whether the gripper is actively moving (or attempting to move) under its own power.

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{{% tab name="Python" %}}

**Parameters:**

- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- ([bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): :   Whether the gripper is moving.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Check whether the gripper is currently moving.
moving = await my_gripper.is_moving()
print('Moving:', moving)
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.is_moving).

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{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

**Returns:**

- [(bool)](https://pkg.go.dev/builtin#bool): Whether this resource is moving (`true`) or not (`false`).
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// This example shows using IsMoving with an arm component.
myArm, err := arm.FromProvider(machine, "my_arm")

// Stop all motion of the arm. It is assumed that the arm stops immediately.
myArm.Stop(context.Background(), nil)

// Log if the arm is currently moving.
is_moving, err := myArm.IsMoving(context.Background())
logger.Info(is_moving)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Actuator).

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**Parameters:**

- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<boolean>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Check if the gripper is currently moving
const moving = await gripper.isMoving();
console.log('Gripper is moving:', moving);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#ismoving).

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{{% tab name="Flutter" %}}

**Parameters:**

- None.

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[bool](https://api.flutter.dev/flutter/dart-core/bool-class.html)>

**Example:**

```dart {class="line-numbers linkable-line-numbers"}
var isItMoving = await myGripper.isMoving();
```

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/isMoving.html).

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### IsHoldingSomething

Return if the gripper is holding something.

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{{% tab name="Python" %}}

**Parameters:**

- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- ([viam.components.gripper.gripper.Gripper.HoldingStatus](https://python.viam.dev/autoapi/viam/components/gripper/gripper/index.html#viam.components.gripper.gripper.Gripper.HoldingStatus)): :   see documentation on HoldingStatus for more information.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Grab with the gripper.
holding_status = await my_gripper.is_holding_something()
# get the boolean result
is_holding_something = holding_status.is_holding_something
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.is_holding_something).

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{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(HoldingStatus)](https://pkg.go.dev/go.viam.com/rdk/components/gripper#HoldingStatus)
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/gripper#Gripper).

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{{% tab name="TypeScript" %}}

**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<boolean>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Check if the gripper is holding something
const holding = await gripper.isHoldingSomething();
console.log('Gripper is holding something:', holding);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#isholdingsomething).

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{{% tab name="Flutter" %}}

**Parameters:**

- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[HoldingStatus](https://flutter.viam.dev/viam_sdk/HoldingStatus-class.html)>

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/isHoldingSomething.html).

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### Stop

Stops the gripper.
It is assumed that the gripper stops immediately, so `IsMoving` will return false after calling `Stop`.

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{{% tab name="Python" %}}

**Parameters:**

- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- None.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Stop the gripper.
await my_gripper.stop()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.stop).

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{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// This example shows using Stop with an arm component.
myArm, err := arm.FromProvider(machine, "my_arm")

// Stop all motion of the arm. It is assumed that the arm stops immediately.
err = myArm.Stop(context.Background(), nil)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Actuator).

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{{% tab name="TypeScript" %}}

**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<void>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Stop the gripper's current motion
await gripper.stop();
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#stop).

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{{% tab name="Flutter" %}}

**Parameters:**

- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<void>

**Example:**

```dart {class="line-numbers linkable-line-numbers"}
await myGripper.stop();
```

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/stop.html).

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### GetGeometries

Get all the geometries associated with the gripper in its current configuration, in the [frame](/reference/services/frame-system/) of the gripper.
The [motion](/reference/services/motion/) and [navigation](/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.

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{{% tab name="Python" %}}

**Parameters:**

- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- ([List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): :   The geometries associated with the Component.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
geometries = await my_gripper.get_geometries()

if geometries:
    # Get the center of the first geometry
    print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.get_geometries).

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{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [([]spatialmath.Geometry)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#Geometry): The geometries associated with this resource, in any order.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
// This example shows using Geometries with an gripper component.
myGripper, err := gripper.FromProvider(machine, "my_gripper")

geometries, err := myGripper.Geometries(context.Background(), nil)

if len(geometries) > 0 {
   // Get the center of the first geometry
   elem := geometries[0]
   fmt.Println("Pose of the first geometry's center point:", elem.Pose())
}
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Shaped).

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**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[commonApi](https://ts.viam.dev/modules/commonApi.html).[Geometry](https://ts.viam.dev/classes/commonApi.Geometry.html)[]>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Get the geometries of this component
const geometries = await gripper.getGeometries();
console.log('Geometries:', geometries);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#getgeometries).

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### GetCurrentInputs

Get the current joint input values of the gripper.
This method is part of the frame system's `InputEnabled` interface and is relevant for grippers with non-zero degrees of freedom that participate in motion planning.

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{{% tab name="Python" %}}

**Parameters:**

- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- (List[[float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)]): :   The current input values of the gripper.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Get the current input values of the gripper.
inputs = await my_gripper.get_current_inputs()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.get_current_inputs).

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{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

**Returns:**

- [([]referenceframe.Input)](https://pkg.go.dev/go.viam.com/rdk/referenceframe#Input)
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/robot/framesystem#InputEnabled).

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{{% tab name="TypeScript" %}}

**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<number[]>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Get the current inputs of the gripper
const inputs = await gripper.getCurrentInputs();
console.log('Current inputs:', inputs);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#getcurrentinputs).

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{{% tab name="Flutter" %}}

**Parameters:**

- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[List](https://api.flutter.dev/flutter/dart-core/List-class.html)<[double](https://api.flutter.dev/flutter/dart-core/double-class.html)>\>

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/getCurrentInputs.html).

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### GoToInputs

Move the gripper to the specified joint input values.
This method is part of the frame system's `InputEnabled` interface and is relevant for grippers with non-zero degrees of freedom that participate in motion planning.

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{{% tab name="Python" %}}

**Parameters:**

- `values` (List[[float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)]) (required): The input values to move the gripper to.
- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- None.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Move the gripper to specific input values.
await my_gripper.go_to_inputs([0.5, 0.8])
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.go_to_inputs).

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{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `inputSteps` [(...[]referenceframe.Input)](https://pkg.go.dev/go.viam.com/rdk/referenceframe#Input)

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/robot/framesystem#InputEnabled).

{{% /tab %}}
{{% tab name="TypeScript" %}}

**Parameters:**

- `values` (number) (required): The input values to move the gripper to.
- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<void>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Move the gripper to specific input values
await gripper.goToInputs([0.5]);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#gotoinputs).

{{% /tab %}}
{{% tab name="Flutter" %}}

**Parameters:**

- `values` [List](https://api.flutter.dev/flutter/dart-core/List-class.html)<[double](https://api.flutter.dev/flutter/dart-core/double-class.html)> (required)
- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<void>

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/goToInputs.html).

{{% /tab %}}
{{< /tabs >}}

### Reconfigure

Reconfigure this resource.
Reconfigure must reconfigure the resource atomically and in place.

{{< tabs >}}
{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `deps` [(Dependencies)](https://pkg.go.dev/go.viam.com/rdk/resource#Dependencies): The resource dependencies.
- `conf` [(Config)](https://pkg.go.dev/go.viam.com/rdk/resource#Config): The resource configuration.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

{{% /tab %}}
{{< /tabs >}}

### DoCommand

Execute model-specific commands that are not otherwise defined by the component API.
Most models do not implement `DoCommand`.
Any available model-specific commands should be covered in the model's documentation.
If you are implementing your own gripper and want to add features that have no corresponding built-in API method, you can implement them with [`DoCommand`](/reference/sdks/docommand/).

{{< tabs >}}
{{% tab name="Python" %}}

**Parameters:**

- `command` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): :   Result of the executed command.

**Raises:**

- (NotImplementedError): Raised if the Resource does not support arbitrary commands.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
command = {"cmd": "test", "data1": 500}
result = await my_gripper.do_command(command)
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.do_command).

{{% /tab %}}
{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `cmd` [(map[string]interface{})](https://go.dev/blog/maps): The command to execute.

**Returns:**

- [(map[string]interface{})](https://pkg.go.dev/builtin#string): The command response.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
myGripper, err := gripper.FromProvider(machine, "my_gripper")

command := map[string]interface{}{"cmd": "test", "data1": 500}
result, err := myGripper.DoCommand(context.Background(), command)
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

{{% /tab %}}
{{% tab name="TypeScript" %}}

**Parameters:**

- `command` ([Struct](https://ts.viam.dev/classes/Struct.html)) (required): The command to execute. Accepts either a [Struct](https://ts.viam.dev/classes/Struct.html) or a plain object,
  which will be converted automatically.
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[JsonValue](https://ts.viam.dev/types/JsonValue.html)>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
// Plain object (recommended)
const result = await resource.doCommand({
  myCommand: { key: 'value' },
});

// Struct (still supported)
import { Struct } from '@viamrobotics/sdk';

const result = await resource.doCommand(Struct.fromJson({ myCommand: { key: 'value' } }));
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#docommand).

{{% /tab %}}
{{% tab name="Flutter" %}}

**Parameters:**

- `command` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic> (required)

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>\>

**Example:**

```dart {class="line-numbers linkable-line-numbers"}
// Example using doCommand with an arm component
const command = {'cmd': 'test', 'data1': 500};
var result = myArm.doCommand(command);
```

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Resource/doCommand.html).

{{% /tab %}}
{{< /tabs >}}

### GetStatus

Get the current status of the gripper as a map of key-value pairs describing its state.

{{< tabs >}}
{{% tab name="Python" %}}

**Parameters:**

- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): :   The status of the component.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
status = await component.get_status()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.get_status).

{{% /tab %}}
{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

**Returns:**

- [(map[string]interface{})](https://pkg.go.dev/builtin#string)
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
myGripper, err := gripper.FromProvider(machine, "my_gripper")

status, err := myGripper.Status(context.Background())
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

{{% /tab %}}
{{% tab name="TypeScript" %}}

**Parameters:**

- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<[JsonValue](https://ts.viam.dev/types/JsonValue.html)>)

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#getstatus).

{{% /tab %}}
{{% tab name="Flutter" %}}

**Parameters:**

- None.

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>\>

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Resource/getStatus.html).

{{% /tab %}}
{{< /tabs >}}

### GetKinematics

Get the kinematics information associated with the gripper as the format and byte contents of the [kinematics file](/motion-planning/frame-system/overview/).

{{< tabs >}}
{{% tab name="Python" %}}

**Parameters:**

- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- ([viam.components.KinematicsReturn](https://python.viam.dev/autoapi/viam/components/index.html#viam.components.KinematicsReturn)): :   A tuple containing two values; the first [0] value represents the format of the
    file, either in URDF format (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_URDF`) or
    Viam’s kinematic parameter format (spatial vector algebra) (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA`),
    and the second [1] value represents the byte contents of the file.
    If available, a third [2] value provides meshes keyed by URDF filepath.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Get the kinematics information associated with the gripper.
kinematics = await my_gripper.get_kinematics()

# Get the format of the kinematics file.
k_file = kinematics[0]

# Get the byte contents of the file.
k_bytes = kinematics[1]
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.get_kinematics).

{{% /tab %}}
{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(referenceframe.Model)](https://pkg.go.dev/go.viam.com/rdk/referenceframe#Model): The kinematics model of the resource.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/robot/framesystem#InputEnabled).

{{% /tab %}}
{{% tab name="Flutter" %}}

**Parameters:**

- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)

**Returns:**

- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<Kinematics>

**Example:**

```dart {class="line-numbers linkable-line-numbers"}
var kinematics = await myGripper.getKinematics();
```

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/getKinematics.html).

{{% /tab %}}
{{< /tabs >}}

### GetResourceName

Get the `ResourceName` for this gripper.

{{< tabs >}}
{{% tab name="Python" %}}

**Parameters:**

- `name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The name of the Resource.

**Returns:**

- ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)): :   The ResourceName of this Resource.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper_name = Gripper.get_resource_name("my_gripper")
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.get_resource_name).

{{% /tab %}}
{{% tab name="Go" %}}

**Parameters:**

- None.

**Returns:**

- [(Name)](https://pkg.go.dev/go.viam.com/rdk@v0.89.0/resource#Name)

**Example:**

```go {class="line-numbers linkable-line-numbers"}
myGripper, err := gripper.FromProvider(machine, "my_gripper")

err = myGripper.Name()
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

{{% /tab %}}
{{% tab name="TypeScript" %}}

**Parameters:**

- None.

**Returns:**

- (string): The name of the resource.

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
gripper.name
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#name).

{{% /tab %}}
{{% tab name="Flutter" %}}

**Parameters:**

- `name` [String](https://api.flutter.dev/flutter/dart-core/String-class.html) (required)

**Returns:**

- [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html)

**Example:**

```dart {class="line-numbers linkable-line-numbers"}
final myGripperResourceName = myGripper.getResourceName("my_gripper");
```

For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/getResourceName.html).

{{% /tab %}}
{{< /tabs >}}

### Close

Safely shut down the resource and prevent further use.

{{< tabs >}}
{{% tab name="Python" %}}

**Parameters:**

- None.

**Returns:**

- None.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
await my_gripper.close()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.close).

{{% /tab %}}
{{% tab name="Go" %}}

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go {class="line-numbers linkable-line-numbers"}
myGripper, err := gripper.FromProvider(machine, "my_gripper")

err = myGripper.Close(context.Background())
```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

{{% /tab %}}
{{< /tabs >}}