Minimal code for controlling schunk wsg grippers. 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.