Support for OnRobot RG2 Gripper #45

Mofeywalker · 2018-08-13T07:22:13Z

Hi,

I needed support for the OnRobot RG2 Gripper, so I implemented a little plugin which allows to open and close the gripper via a very simple API. I needed a lot of boilerplate code which is generated by the URCap plugin of the gripper.

Maybe this code is helpful for others.

Tested on an UR3 with FW 3.6.1.30595 and RG2 URCap version 1.9.0 and RG2 Firmware version 1.5.0

Best regards
Moritz

…ted on real hardware

Mofeywalker · 2018-08-13T12:15:46Z

I messed up the description. It's not a Robotique gripper, it's an OnRobot gripper.

This reverts commit 5dc2313

oroulet · 2018-09-19T08:59:44Z

urx/urrobot.py

@@ -277,6 +277,17 @@ def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False, threshold=
            self._wait_for_move(joints[:6], threshold=threshold, joints=True)
            return self.getj()

+    def movej_to_pose(self, tpose, acc=0.1, vel=0.05, wait=True, relative=False, threshold=None):


what is that method supposed to do? it looks like the same as movj or is it?

hi, the movej_to_pose method allows to set a pose instead of joints as target of the movej. I haven't found that variant in the api.

sorry forgot that one. Bit does that make sense at all? is tpose is a list of joint values then it is the same as movej, if it is a pose, then you need the inverse kinematic to find joint values to send... I really do not get what it does...

If i pass a pose variable to movej the robot itself calculates the kinematic. You can try this yourself within Polyscope. You can pass a pose to movej. IMHO this just makes it easier to use

joint positions (q can also be specified as a pose, then
inverse kinematics is used to calculate the corresponding
joint positions)

From the script manual for movej

did not know about it. Thanks

maybe you should writ that comment in doc string so other people understand it?

@Mofeywalker I am wondering is your movej_to_pose_list method working? BTW, I want to switch ON the welding torch and then use movej_to_pose_list, however the set_digital_out method is sent over as a complete program. When it finishes there is no program running and hence the digital output will fall back to OFF for safety sake. Thank you for your help.

@Mofeywalker I am wondering is your movej_to_pose_list method working? BTW, I want to switch ON the welding torch and then use movej_to_pose_list, however the set_digital_out method is sent over as a complete program. When it finishes there is no program running and hence the digital output will fall back to OFF for safety sake. Thank you for your help.

hey @blackhorsewu the last time i worked on this in december 2018 it worked :) But I changed jobs in the meantime and don't have access to an UR anymore.

@Mofeywalker thank you very much for your reply. I would then try on it. Thank you also very much for the movej_to_pose. That solved my problem. I was trying to find out ways to call get_inverse_kin() and was getting nowhere! Anyway thank you again for the good work.

oroulet · 2018-09-19T09:00:28Z

urx/onrobot_rg2_gripper.py

@@ -0,0 +1,273 @@
+
+from urx.urscript import URScript
+import time


maybe it is a good idea to move all these gripper files to a directory called grippers or devices?

cengizfurkan · 2018-12-17T07:42:28Z

urx/onrobot_rg2_gripper.py

@@ -0,0 +1,273 @@
+
+from urx.urscript import URScript
+import time


Hello,I am a student in Turkish German University and we are working on a project with UR3 and RG2 Gripper and we only found your python code for RG2 Gripper.Some movement code(movej,movep...) that you have been writen does not match the dokument (https://s3-eu-west-1.amazonaws.com/ur-support-site/45989/scriptManual.pdf) that have been lead.

@cengizfurkan patch welcome in another PR. but generally I think we should more the RG2 wrapper out of that repository

[WIP] RG2 script Thanks a lot!

michael-hart · 2019-07-18T16:11:32Z

I've found the boilerplate code will close and open the gripper immediately, no matter which of the functions is called on it. Could anyone verify the same behaviour on their own gripper?

Fix syntax errors and documentation

IE-MangChi · 2023-03-14T06:46:58Z

import urx
import time
from urx.gripper import OnRobotGripperRG2
import sys

if name == 'main':

rob = urx.Robot("192.168.50.100")
gripper = OnRobotGripperRG2(rob)

if len(sys.argv) != 2:
    print("false")
    sys.exit()

if sys.argv[1] == "close":
    gripper.close_gripper()
if sys.argv[1] == "open":
    gripper.open_gripper()
time.sleep(2)

rob.close()
print("true")
sys.exit()

Hello, i want to control onrobot rg2 gripper in python.
i have succeeded in moving the robot.
but the gripper is not working. what can i do...ㅠ0ㅠ..
please give me some advice. i've been trying several things for nearly a month.
Thanks.

kend11 · 2023-05-29T07:37:25Z

Hello, I am trying to control my onrobot rg2 gripper on UR10e in python but when I run the code, the error as shown below pops up. Any advice on how to solve this? Thank you!

The code that I run is this

I searched online that those people that faced similar issues, they solved it uninstalling urx that they installed through pip and cloning this repository directly. I tried that method but the issue persists. Any help will be greatly appreciated thanks!

IE-MangChi · 2023-06-09T04:48:42Z

If the onrobot gripper plug-in is installed in UR touch pad, it may not work. Would you like to remove Plugin on touch pad and retry? I failed and am controlling it through digital signals. Of course, there is no control of the force. I'm sorry I didn't help you. thk 2023년 5월 29일 (월) 오후 4:37, kend11 ***@***.***>님이 작성:

…

Hello, I am trying to control my onrobot rg2 gripper on UR10e in python but when I run the code, the error as shown below pops up. Any advice on how to solve this? Thank you! [image: Screenshot 2023-05-29 153424] <https://user-images.githubusercontent.com/84660468/241674974-765ddd92-c6a4-4c31-9cd2-90b8bac08cc6.png> The code that I run is this [image: image] <https://user-images.githubusercontent.com/84660468/241675144-fc04e404-993c-4869-a76f-c2b66cc30b06.png> I searched online that those people that faced similar issues, they solved it uninstalling urx that they installed through pip and cloning this repository directly. I tried that method but the issue persists. Any help will be greatly appreciated thanks! — Reply to this email directly, view it on GitHub <#45 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/A4DV2HNIWRY7EKTKONRR6Y3XIRG4BANCNFSM4FPIAPNQ> . You are receiving this because you commented.Message ID: ***@***.***>

kend11 · 2023-06-09T05:40:21Z

@IE-MangChi what did you mean by "I failed and am controlling it through digital signals"? So, you are not using the function open_gripper() to control the gripper? Did you just set digital signals to true and false to open and close the gripper respectively? Thank you!

Now4czyk · 2023-12-01T12:56:12Z

Thanks to your code our gripper started to work. Thank you ;)
If anyone is looking for ROS2 solution with OnRobot RG2 and UR3e here is the working one:
https://github.com/Now4czyk/arws/blob/main/src/gripper_control/gripper_control/gripper_control_node.py

Mofeywalker added 4 commits August 10, 2018 13:50

add prototypical implementation of OnRobot RG2 support, has to be tes…

3a732af

…ted on real hardware

working prototypical implementation of onrobot rg2 gripper

cc2936a

basic implementation of Robotique RG2 gripper with boilerplate code

3151cae

remove onrobot.script

c5964ac

Mofeywalker added 3 commits August 27, 2018 08:27

add possibility to move to a pose via movej

50186dd

Merge remote-tracking branch 'origin/master'

da63a4f

add movej_to_pose method

8a55f01

Mofeywalker changed the title ~~Support for Robotique RG2 Gripper~~ Support for OnRobot RG2 Gripper Aug 27, 2018

Mofeywalker added 4 commits August 31, 2018 11:26

add radius to movej

5dc2313

Revert "add radius to movej"

211967a

This reverts commit 5dc2313

experimental implementation of multiple movejs

4914f8c

add parameter for sleep duration

7757f3c

oroulet reviewed Sep 19, 2018

View reviewed changes

cengizfurkan reviewed Dec 17, 2018

View reviewed changes

michael-hart and others added 5 commits July 18, 2019 14:40

Merge https://github.com/Mofeywalker/python-urx

ff57f59

Reorganise grippers into package and add README docs

98aa4d6

Add ability to measure grip width and object gripped

7b63d3f

Merge pull request #1 from michael-hart/rg2-script

e91f19a

[WIP] RG2 script Thanks a lot!

Fix syntax errors and documentation

7b1212a

Merge pull request #2 from michael-hart/rg2-script

7a1eb83

Fix syntax errors and documentation

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Support for OnRobot RG2 Gripper #45

Support for OnRobot RG2 Gripper #45

Mofeywalker commented Aug 13, 2018 •

edited

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Mofeywalker commented Aug 13, 2018

oroulet Sep 19, 2018

Mofeywalker Sep 19, 2018

oroulet Dec 20, 2018

Mofeywalker Dec 20, 2018

Mofeywalker Dec 20, 2018

oroulet Dec 20, 2018

oroulet Dec 20, 2018

blackhorsewu Nov 3, 2020

Mofeywalker Nov 4, 2020

blackhorsewu Nov 5, 2020

oroulet Sep 19, 2018

cengizfurkan Dec 17, 2018

oroulet Dec 20, 2018

michael-hart commented Jul 18, 2019

IE-MangChi commented Mar 14, 2023

kend11 commented May 29, 2023

IE-MangChi commented Jun 9, 2023 via email

kend11 commented Jun 9, 2023

Now4czyk commented Dec 1, 2023 •

edited

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		@@ -0,0 +1,273 @@

		from urx.urscript import URScript
		import time

Support for OnRobot RG2 Gripper #45

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Support for OnRobot RG2 Gripper #45

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Mofeywalker commented Aug 13, 2018 • edited Loading

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michael-hart commented Jul 18, 2019

IE-MangChi commented Mar 14, 2023

kend11 commented May 29, 2023

IE-MangChi commented Jun 9, 2023 via email

kend11 commented Jun 9, 2023

Now4czyk commented Dec 1, 2023 • edited Loading

Mofeywalker commented Aug 13, 2018 •

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Now4czyk commented Dec 1, 2023 •

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