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minWSG

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.

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