wait_released_part¶

Runs in the client Sends nothing to the robot

Wait until the last gripper command has settled with the jaws clear. The mirror of wait_holding_part(): it waits like wait_gripper_move_complete(), then the jaws must have reached their target with nothing in the way. Jaws that something still blocked raise GripFailed: after an open, the part did not come free, and the arm must not carry it away. Call it after open_gripper(), or a move_gripper() that opens.

Syntax¶

robot.wait_released_part(timeout=None)

Arguments¶

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

Returns¶

GripperResult

The command's GripperResult, with code 3.

Examples¶

robot.open_gripper()
robot.wait_released_part()

Exceptions¶

CommandRejected: The gripper command failed: its code says why, for example GRIPPER_SETTLE_TIMEOUT or SUPERSEDED, or the connection closed before it settled.
GripFailed: The jaws did not report reaching their target with nothing in the way: something stopped them, or the gripper still reported motion when they came within 5 of the target (code 0), or no gripper command of this client has settled yet. Its result holds the GripperResult, or None.
RobotTimeout: The command had not settled within timeout.