Robotiq Gripper Driver

A comprehensive C++ driver with Python bindings for controlling Robotiq grippers via TCP/IP communication.

Quick Start

Prerequisites

• Bazel 6.0+: Install Bazel
• C++17 compatible compiler: GCC 8+, Clang 10+
• Python 3.7+: For Python bindings (optional)
• Linux: Currently supports Linux systems

Building the Project

# Clone the repository
git clone https://github.com/DAIRLab/robotiq_gripper.git
cd robotiq_gripper

# Build all targets
bazel build //...

Usage

C++ Interface

#include "src/robotiq_gripper.h"

using namespace driver::robotiq;

int main() {
    // Create gripper instance
    RobotiqGripper gripper("192.168.1.100");
    
    // Connect and activate
    if (gripper.connect()) {
        gripper.activate();
        
        // Move to half-open position
        gripper.moveToPosition(100, 50, 100);  // position, speed, force
        
        // Close gripper with blocking operation
        gripper.closeGripper(true);  // blocking=true
        
        // Check if object is grasped
        if (!gripper.IsFaulted()) {
            std::cout << "Current position: " << gripper.getCurrentPosition() << std::endl;
        }
        
        gripper.disconnect();
    }
    return 0;
}

Python Interface

from robotiq_cpp import RobotiqGripper

# Manual connection management
gripper = RobotiqGripper("192.168.1.100", port=63352, timeout=10)
gripper.connect()
gripper.activate()
gripper.openGripper()
gripper.disconnect()

API Reference

Core Classes

RobotiqGripper

The main interface class for gripper control.

Constructor:

RobotiqGripper(std::string ip_address, int port = 63352, int timeout = -1, int poll_interval = 100)

Key Methods:

• bool connect() - Establish TCP connection
• void disconnect() - Close connection
• bool activate() - Initialize gripper for operation
• bool moveToPosition(int pos, optional<int> speed, optional<int> force, bool blocking) - Move to position
• bool openGripper(bool blocking) - Open gripper completely
• bool closeGripper(bool blocking) - Close gripper completely
• int getCurrentPosition() - Get current position (0-255)
• bool IsFaulted() - Check fault status

RobotiqCommand (Enum)

Available gripper commands for low-level access:

Command	Description	Range	Access
ACTIVATION_STATUS	Gripper activation	0-1	R/W
POSITION	Target/current position	0-255	R/W
SPEED	Movement speed	0-255	R/W
FORCE	Gripping force	0-255	R/W
GRIPPER_STATUS	Current status	-	R
OBJECT_DETECTION_STATUS	Object detection	-	R
FAULT_STATUS	Error status	-	R

Position Values

• 0: Fully open
• 255: Fully closed
• 100-150: Typical object grasping range

Speed Values

• 0: Minimum speed (may not move)
• 255: Maximum speed
• 50-150: Recommended range for most applications

Force Values

• 0: Minimum force
• 255: Maximum force
• 100-200: Typical range for object manipulation

Configuration

Network Setup

Ensure your Robotiq gripper is configured for TCP/IP communication:

1. Default Settings:

   • IP Address: 192.168.1.100 (configurable on gripper)
   • Port: 63352 (standard Robotiq port)
   • Protocol: TCP/IP

2. Network Configuration:

   # Ensure network connectivity
   ping 192.168.1.100