https://github.com/real-stanford/minwsg

Minimal code for controlling Schunk WSG grippers
https://github.com/real-stanford/minwsg

gripper-control schunk wsg wsg32 wsg50

Last synced: 2 days ago
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Minimal code for controlling Schunk WSG grippers

• Host: GitHub
• URL: https://github.com/real-stanford/minwsg
• Owner: real-stanford
• License: mit
• Created: 2020-11-26T07:15:19.000Z (almost 4 years ago)
• Default Branch: main
• Last Pushed: 2023-04-05T20:37:57.000Z (over 1 year ago)
• Last Synced: 2024-04-20T20:53:39.887Z (7 months ago)
• Topics: gripper-control, schunk, wsg, wsg32, wsg50
• Language: Python
• Homepage:
• Size: 3.91 KB
• Stars: 1
• Watchers: 3
• Forks: 1
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# minWSG

Minimal code for controlling schunk wsg grippers. [wsg.py](wsg.py) contains the following functionalities:

- Move fingers to home (fully open) state

- Move fingers to desired position

- Grip (grasp) with desired force

- Release

The controller communicates with a WSG gripper via its text-based interface. It is required to enable Settings -> Command Interface -> Use text based interface through your gripper's web interface.

For demo, connect the wsg gripper and simply run:

```

python demo.py

```

To extend this library for more functionalities, please checkout the "GCL Gripper Control Language Reference Manual" by clicking Help -> Documentation -> GCL Reference Manual on your gripper's web interface.