If you’re developing a Python application to control a UR robot equipped with a Robotiq gripper, you may want to try the pyrobotiqgripper package.
It can be installed easily with a simple pip command and supports two connection methods:
-
Direct connection to your PC
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Via the UR RS485 URCap (https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap)
The package also includes a dedicated function for continuous control of the gripper:
realTimeMove(<position>)
Comprehensive documentation is available, and the project is fully open source.
Your feedback is welcome !
Note: This is a personal project and is not maintained by Robotiq.