Python controller for the ROBOTIS RH-P12-RN and RH-P12-RN(A) grippers.
This package can be installed via pip:
pip install git+https://github.com/TimSchneider42/python-rhp12rn-controller.git
First, create a RHP12RNConnector
or RHP12RNAConnector
instance depending on your gripper model and call the connect()
function to establish a serial connection to the gripper:
from rhp12rn import RHP12RNAConnector
connector = RHP12RNAConnector(device="/dev/ttyUSB0", baud_rate=57600, dynamixel_id=1)
connector.connect()
...
connector.disconnect()
RHP12RNAConnector
instances can also be used as context managers:
with RHP12RNAConnector(device="/dev/ttyUSB0", baud_rate=57600, dynamixel_id=1) as connector:
...
The connector
object allows reading and writing of arbitrary addresses of the gripper's control table:
print(connector.read_field("torque_enable"))
connector.write_field("torque_enable", 1)
print(connector.read_field("torque_enable"))
For a comprehensive list of its entries, refer to https://emanual.robotis.com/docs/en/platform/rh_p12_rna/ or https://emanual.robotis.com/docs/en/platform/rh_p12_rn/.
Alternatively, all entries are listed in rhp12rn_connector.py
and rhp12rna_connector.py
.
Note that the motors have to be disabled ("torque_enabled"
has to be set to 0) for EEPROM values to be written, while RAM values can be written at any time.
For convenience, the RHP12RN
class provides direct access to the most commonly used fields:
import time
from rhp12rn import RHP12RN
rhp12rn = RHP12RN(connector)
rhp12rn.torque_enabled = True
rhp12rn.goal_position = 1.0
time.sleep(3.0)
rhp12rn.torque_enabled = False
For a full example of the usage of this package, refer to example/open_close.py
.
If the baud rate and/or Dynamixel ID is unknown, the find_grippers
method can be used to find those parameters by performing a full sweep. It can be invoked as follows:
from rhp12rn import find_grippers
found_grippers = find_grippers(device="/dev/ttyUSB0")