feat: add a robotiq config and example - #66
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Pull request overview
This PR adds support for Robotiq 2F-85 gripper by implementing GripperCommandAction support and providing a configuration file and example script.
Changes:
- Added
use_gripper_command_actionflag to enable action-based gripper control - Created Robotiq 2F-85 gripper configuration file
- Added example script demonstrating gripper usage
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| examples/19_robotiq_gripper.py | New example demonstrating Robotiq gripper operation with open/close/set_target commands |
| crisp_py/gripper/gripper_config.py | Added attributes documentation and new fields for action-based control |
| crisp_py/gripper/gripper.py | Implemented GripperCommandAction support with conditional publisher/client creation |
| crisp_py/config/grippers/gripper_robotiq_2f85.yaml | Configuration file for Robotiq 2F-85 gripper |
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yizhongzhang1989
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Mar 17, 2026
* feat: add a robotiq config and example * chore: fix ruff
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