Gripper Activate

SUMMARY

Activate runs the gripper's activation (and optional auto-calibration) sequence so it is ready to accept motion commands.

Robotiq grippers must be activated once per power cycle before move, open, or close will move the fingers.

The Skill

gripper.activate(auto_calibrate=False)

The Code

Safety first!

A real robot will faithfully do whatever you ask of it - so please take a moment to clear the workspace, keep an E-Stop within reach, and be ready to disconnect.

Operating real hardware is at your own risk.

Real

"""
Demonstrates activating a parallel gripper.

Supports only Robotiq grippers, and Isaac Sim.

Usage:
    python activate.py --ip <GRIPPER_IP>
    python activate.py --protocol MODBUS_RTU --serial-port COM4
    python activate.py --prim_path <PRIM_PATH>

Note:
    A simulated gripper has no activation cycle, so activate() is a no-op when connected to Isaac Sim.

    Experimental gripper support for Isaac Sim: Robotiq 2F85 (USD-based simulation only); Schunk EGP and
    PZN+ are.
"""

import argparse
from loguru import logger

from telekinesis.synapse.tools.parallel_grippers import robotiq


def main(ip: str | None,
         serial_port: str,
         protocol: str,
         prim_path: str | None) -> None:
    """Activates a Robotiq gripper."""

    #===================== Create Gripper ======================================
    gripper = robotiq.Robotiq2F85()

    try:
        #===================== Connect Gripper =================================
        if prim_path:
            gripper.connect(simulation_prim_path=prim_path)
        else:
            gripper.connect(ip=ip, serial_port=serial_port, protocol=protocol)

        # ==================== Run Skill ====================================
        gripper.activate()
        logger.success("Gripper activated.")
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        gripper.disconnect()


if __name__ == "__main__":
    p = argparse.ArgumentParser(description="Robotiq gripper activate")
    p.add_argument("--protocol",
                   choices=["URCAP", "MODBUS_RTU"],
                   default="URCAP")
    p.add_argument("--ip", default=None, help="IP for Robotiq Gripper")
    p.add_argument("--serial-port", dest="serial_port", default="COM4",
                   help="Serial port for MODBUS_RTU")
    p.add_argument("--prim_path", type=str, default=None,
                   help='Isaac Sim gripper prim path, e.g. "/World/robotiq_2f85"')
    args = p.parse_args()

    main(ip=args.ip,
         serial_port=args.serial_port,
         protocol=args.protocol,
         prim_path=args.prim_path)

Running the Example

Real

python activate.py --ip 192.168.1.100

Isaac Sim

python activate.py --prim_path /World/robotiq_2f85

For all options:

python activate.py --help

Parameter Configuration

Robotiq 2F-85

Parameter	Type	Default	Description
auto_calibrate	bool	False	If True, the gripper runs a full open/close calibration cycle during activation. URCAP only - ignored on MODBUS_RTU.

Returns

This skill returns nothing (None).

Raises

Robotiq 2F-85

Exception	Condition
ValueError	The configured connection protocol is not supported
RuntimeError	The gripper is not connected

How to Tune the Parameters

Leave auto_calibrate=False for normal use - the gripper activates quickly and is immediately ready for motion. Set auto_calibrate=True (URCAP only) after a mechanical change - for example fitting different fingertips - so the gripper re-learns its full stroke; the calibration open/close cycle adds a few seconds to startup.

Where to Use the Skill

• Session startup - Activate once after connect, before issuing the first motion command
• Power-cycle recovery - Re-activate after the gripper loses power, since activation state does not persist across power cycles
• Fingertip changes - Activate with auto_calibrate=True after swapping fingertips to re-learn the stroke

When Not to Use the Skill

Do not use Activate when:

• The gripper is already activated - re-activating mid-session is unnecessary and interrupts readiness
• The gripper is not connected - always call connect before activating