wait_gripper_move_complete¶

Runs in the client Sends nothing to the robot

Wait until this client's last gripper command has settled. The jaws have settled when they reached the command's target, or when the gripper reported that something stopped them; this wait does not say which, gripper_result() does. It waits for the gripper command itself: wait_motion_complete() waits for the last queued command of any kind, which is often a move queued after the gripper. It returns at once when the command has already settled, and when this client has sent no gripper command.

Syntax¶

robot.wait_gripper_move_complete(timeout=None)

Arguments¶

Name	Type	Default	Description
`timeout`	`float \| None`	`None`	The longest wait, in seconds. `None` or 0 mean 120 s.

Returns¶

Nothing.

Examples¶

robot.close_gripper()
robot.wait_gripper_move_complete()
robot.move_linear_rel_world(0, 0, 0.02)
robot.wait_idle()

Exceptions¶

CommandRejected: The gripper command failed: its code says why, for example GRIPPER_SETTLE_TIMEOUT, SUPERSEDED, STOPPED or ABORTED, or the connection closed before it settled. Each call raises it again until the next gripper command, and wait_idle() reports the same failure once more, as MotionFailed.
RobotTimeout: The command had not settled within timeout.