Python: gripper_object_detection says 2 when the gripper closes on an object

[PCrnjak]

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Other, or more than one

Your question

Asked often on Discord; posted here with the answer so it can be found.

With the Spectral-BLDC Python library, gripper_object_detection reads 2 when the gripper closes on an object, and 1 when it finds one while opening. The manual says it is the other way around.

What have you tried?

Spectral-BLDC Python library 1.20.

[PCrnjak]

The manual is right: the library's UnpackData assembles gripper_object_detection with its two bits swapped. It reports 1 where the gripper sends 2 (object found while opening) and 2 where it sends 1 (object found while closing). 0 and 3 are right. This is KI-6 in the MSG manual and KI-7 in the SSG-48 manual.

Until it is fixed, swap 1 and 2 in your program, or test for "1 or 2" when any object will do.

Details: Python in the MSG manual and the SSG-48 manual.