# Control your gripper with the gripper API The gripper API allows you to give commands to your [gripper components](https://docs.viam.com/reference/components/gripper/) for opening and closing a device. The gripper component supports the following methods: | Method Name | Description | | --- | --- | | [`Open`](https://docs.viam.com/reference/apis/components/gripper/#open) | Opens the gripper. | | [`Grab`](https://docs.viam.com/reference/apis/components/gripper/#grab) | Closes the gripper until it grabs something or closes completely, and returns whether it grabbed something or not. | | [`IsMoving`](https://docs.viam.com/reference/apis/components/gripper/#ismoving) | Returns whether the gripper is actively moving (or attempting to move) under its own power. | | [`IsHoldingSomething`](https://docs.viam.com/reference/apis/components/gripper/#isholdingsomething) | Return if the gripper is holding something. | | [`Stop`](https://docs.viam.com/reference/apis/components/gripper/#stop) | Stops the gripper. | | [`GetGeometries`](https://docs.viam.com/reference/apis/components/gripper/#getgeometries) | Get all the geometries associated with the gripper in its current configuration, in the frame of the gripper. | | [`GetCurrentInputs`](https://docs.viam.com/reference/apis/components/gripper/#getcurrentinputs) | Get the current joint input values of the gripper. | | [`GoToInputs`](https://docs.viam.com/reference/apis/components/gripper/#gotoinputs) | Move the gripper to the specified joint input values. | | [`Reconfigure`](https://docs.viam.com/reference/apis/components/gripper/#reconfigure) | Reconfigure this resource. | | [`DoCommand`](https://docs.viam.com/reference/apis/components/gripper/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. | | [`GetKinematics`](https://docs.viam.com/reference/apis/components/gripper/#getkinematics) | Get the kinematics information associated with the gripper as the format and byte contents of the kinematics file. | | [`GetResourceName`](https://docs.viam.com/reference/apis/components/gripper/#getresourcename) | Get the `ResourceName` for this gripper. | | [`Close`](https://docs.viam.com/reference/apis/components/gripper/#close) | Safely shut down the resource and prevent further use. | ## API ### Open Opens the gripper. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-1-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-1-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-1-2) - [Flutter](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-1-3) **Parameters:** - `extra` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - None. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.open). ### Grab Closes the gripper until it grabs something or closes completely, and returns whether it grabbed something or not. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-2-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-2-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-2-2) - [Flutter](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-2-3) **Parameters:** **Returns:** - ( [bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Indicates if the gripper grabbed something. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.grab). ### IsMoving Returns whether the gripper is actively moving (or attempting to move) under its own power. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-3-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-3-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-3-2) - [Flutter](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-3-3) **Parameters:** - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - ( [bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Whether the gripper is moving. ### IsHoldingSomething Return if the gripper is holding something. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-4-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-4-1) - [Flutter](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-4-2) **Parameters:** **Returns:** - ( [viam.components.gripper.gripper.Gripper.HoldingStatus](https://python.viam.dev/autoapi/viam/components/gripper/gripper/index.html#viam.components.gripper.gripper.Gripper.HoldingStatus)): : see documentation on HoldingStatus for more information. ### Stop Stops the gripper. It is assumed that the gripper stops immediately, so `IsMoving` will return false after calling `Stop`. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-5-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-5-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-5-2) - [Flutter](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-5-3) **Parameters:** **Returns:** - None. ### GetGeometries Get all the geometries associated with the gripper in its current configuration, in the [frame](https://docs.viam.com/reference/services/frame-system/) of the gripper. The [motion](https://docs.viam.com/reference/services/motion/) and [navigation](https://docs.viam.com/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-6-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-6-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-6-2) **Parameters:** **Returns:** - ( [List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): : The geometries associated with the Component. ### GetCurrentInputs Get the current joint input values of the gripper. This method is part of the frame system’s `InputEnabled` interface and is relevant for grippers with non-zero degrees of freedom that participate in motion planning. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-7-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-7-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-7-2) **Parameters:** **Returns:** - ( [List[float]](https://docs.python.org/3/library/stdtypes.html#list)): The current input values of the gripper. ### GoToInputs Move the gripper to the specified joint input values. This method is part of the frame system’s `InputEnabled` interface and is relevant for grippers with non-zero degrees of freedom that participate in motion planning. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-8-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-8-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-8-2) **Parameters:** - `values` ( [List[float]](https://docs.python.org/3/library/stdtypes.html#list)) (required): The input values to move the gripper to. - `extra` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - None. ### Reconfigure Reconfigure this resource. Reconfigure must reconfigure the resource atomically and in place. - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-9-0) **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `deps` [(Dependencies)](https://pkg.go.dev/go.viam.com/rdk/resource#Dependencies): The resource dependencies. - `conf` [(Config)](https://pkg.go.dev/go.viam.com/rdk/resource#Config): The resource configuration. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. ### DoCommand Execute model-specific commands that are not otherwise defined by the component API. Most models do not implement `DoCommand`. Any available model-specific commands should be covered in the model’s documentation. If you are implementing your own gripper and want to add features that have no corresponding built-in API method, you can implement them with [`DoCommand`](https://docs.viam.com/reference/sdks/docommand/). - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-10-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-10-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-10-2) - [Flutter](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-10-3) **Parameters:** - `command` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute. - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): : Result of the executed command. ### GetKinematics Get the kinematics information associated with the gripper as the format and byte contents of the [kinematics file](https://docs.viam.com/motion-planning/frame-system/overview/). - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-11-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-11-1) - [Flutter](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-11-2) **Parameters:** **Returns:** - ( [viam.components.KinematicsReturn](https://python.viam.dev/autoapi/viam/components/index.html#viam.components.KinematicsReturn)): : A tuple containing two values; the first \[0\] value represents the format of the file, either in URDF format (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_URDF`) or Viam’s kinematic parameter format (spatial vector algebra) (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA`), and the second \[1\] value represents the byte contents of the file. ### GetResourceName Get the `ResourceName` for this gripper. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-12-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-12-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-12-2) - [Flutter](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-12-3) **Parameters:** - `name` ( [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The name of the Resource. **Returns:** - ( [viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)): : The ResourceName of this Resource. ### Close Safely shut down the resource and prevent further use. - [Python](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-13-0) - [Go](https://docs.viam.com/reference/apis/components/gripper/#tabset-referenceapiscomponentsgripper-13-1) **Parameters:** - None. **Returns:** - None.