feat(extensions): robotiq bump

docs/extensions/rcs_robotiq2f85.md

@@ -15,14 +15,29 @@ pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_robotiq2f85
 ```
 
-Get the serial number of the gripper with this command:
+
+## Serial Numbers
+
 ```shell
+python -m rcs_robotiq2f85 serials
+# the following command also works
 udevadm info -a -n /dev/ttyUSB0 | grep serial
 ```
 
-Provide the necessary permission:
+
+Lists every `/dev/ttyUSB*` device with its serial number. The serial number is what you pass as
+`serial_number` to `RobotiQ2F85GripperConfig`.
+
+To access the serial port, add yourself to the `dialout` group, then log out and back in:
+
+```shell
+sudo adduser $USER dialout
+```
+
+As a temporary alternative that is reset when the gripper is replugged:
+
 ```shell
-chmod 777 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB0
 ```
 
 ## Usage

extensions/rcs_robotiq2f85/README.md

@@ -28,16 +28,27 @@ pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_robotiq2f85
 ```
 
-Get the serial number of the gripper:
+## Serials
 
 ```shell
+python -m rcs_robotiq2f85 serials
+# the following command also works
 udevadm info -a -n /dev/ttyUSB0 | grep serial
 ```
 
-Provide device permissions if needed:
+Lists every `/dev/ttyUSB*` device with its serial number. The serial number is what you pass as
+`serial_number` to `RobotiQ2F85GripperConfig`.
+
+To access the serial port, add yourself to the `dialout` group, then log out and back in:
+
+```shell
+sudo adduser $USER dialout
+```
+
+As a temporary alternative that is reset when the gripper is replugged:
 
 ```shell
-chmod 777 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB0
 ```
 
 ## Usage

extensions/rcs_robotiq2f85/pyproject.toml

@@ -8,7 +8,8 @@ version = "0.7.2"
 description="RCS RobotiQ module"
 dependencies = [
     "rcs-core>=0.7.2",
-    "2f85-python-driver @ git+https://github.com/RobotControlStack/2f85-python-driver.git",
+    "robotiq2f==0.2.0",
+    "typer~=0.9",
 ]
 readme = "README.md"
 maintainers = [

extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/__main__.py

@@ -0,0 +1,30 @@
+import logging
+
+import typer
+from robotiq2f import LinuxFindTTYWithSerialNumber
+
+logger = logging.getLogger(__name__)
+# callback=... keeps `serials` a subcommand; typer collapses a single-command app otherwise.
+robotiq2f85_app = typer.Typer(help="CLI tool for the Robotiq 2F gripper module of rcs.", callback=lambda: None)
+
+
+@robotiq2f85_app.command()
+def serials():
+    """Reads out the serial numbers of the connected serial devices."""
+    devices = LinuxFindTTYWithSerialNumber().list_devices()
+
+    if len(devices) == 0:
+        typer.secho("No serial devices connected.", fg=typer.colors.YELLOW, err=True)
+        return
+
+    typer.echo("Connected devices:")
+    for port, serial in devices:
+        typer.echo(f"  {port}: {serial if serial is not None else 'unknown'}")
+
+
+def main():
+    robotiq2f85_app()
+
+
+if __name__ == "__main__":
+    main()

extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/hw.py

@@ -2,7 +2,7 @@
 
 from rcs._core.common import Gripper, GripperConfig, GripperState
 from rcs.common_typing import GripperConfigKwargs
-from Robotiq2F85Driver.Robotiq2F85Driver import GripperStatus, Robotiq2F85Driver
+from robotiq2f import Robotiq2F85, Robotiq2FStatus
 
 import rcs
 
@@ -22,7 +22,9 @@ def __init__(
             serial_number: Get the serial number with `udevadm info -a -n /dev/ttyUSB0 | grep serial`, make sure you have read/write permissions to the port.
             speed: Speed in mm/s. Must be between 20 and 150 mm/s.
             force: Force in N. Must be between 20 and 235 N.
-            async_control: If True, gripper commands return immediately without waiting for the movement to complete. A new command interrupts any ongoing movement.
+            async_control: If True, gripper commands return immediately without waiting for the movement to complete
+                (a new command interrupts any ongoing movement), and the driver polls the gripper status in a
+                background thread so that state reads are served from cache instead of blocking on Modbus.
         """
         super().__init__(**kwargs)
         self.serial_number = serial_number
@@ -33,7 +35,7 @@ def __init__(
 
 
 class RobotiQ2F85GripperState(GripperState):
-    def __init__(self, state: GripperStatus) -> None:
+    def __init__(self, state: Robotiq2FStatus) -> None:
         super().__init__()
         self.state = state
 
@@ -42,13 +44,11 @@ class RobotiQ2F85Gripper(Gripper):
     def __init__(self, cfg: RobotiQ2F85GripperConfig):
         super().__init__()
         self._cfg: RobotiQ2F85GripperConfig = cfg
-        self.gripper = Robotiq2F85Driver(serial_number=cfg.serial_number)
-        self._last_normalized_width = 1.0
+        self.gripper = Robotiq2F85(serial_number=cfg.serial_number, async_control=cfg.async_control)
         self.gripper.reset()
 
     def get_normalized_width(self) -> float:
-        # Return the last commanded width to avoid a synchronous Modbus read on every env step.
-        return self._last_normalized_width
+        return self.gripper.opening / self.gripper.MAX_OPENING
 
     def grasp(self) -> None:
         """
@@ -72,13 +72,11 @@ def set_normalized_width(self, width: float, force: float = 0) -> None:
         if not (0 <= width <= 1):
             msg = f"Width must be between 0 and 1, got {width}."
             raise ValueError(msg)
-        self._last_normalized_width = width
-        abs_width = width * 85
+        abs_width = width * self.gripper.MAX_OPENING
         self.gripper.go_to(
             opening=float(abs_width),
             speed=self._cfg.speed,
             force=force if force != 0 else self._cfg.force,
-            blocking_call=not self._cfg.async_control,
         )
 
     def shut(self) -> None: