open_close_gripper.py

from rtde_control import RTDEControlInterface as RTDEControl
from rtde_receive import RTDEReceiveInterface as RTDEReceive
from rtde_io import RTDEIOInterface
from robotiq_gripper import RobotiqGripper
import pinocchio as pin
import numpy as np
import os
import time
import signal
import matplotlib.pyplot as plt


def handler(signum, frame):
    gripper.move(255,255,255)
    time.sleep(3)
    exit()

signal.signal(signal.SIGINT, handler)

gripper = RobotiqGripper()
gripper.connect("192.168.1.102", 63352)
gripper.activate()
time.sleep(3)
gripper.move(0,100,100)
time.sleep(300)