SDK overview¶
xense.taccap (repository TacCap-Gripper) is the SDK for the XTac UMI G1
grippers. It provides both Python and C++ interfaces, for writing your own programs that read the leader gripper and control the follower gripper.
This appendix is written for SDK 0.4.3
The data-collection repository xense-taccap-lerobot ships SDK 0.4.3 (submodule third_party/taccap-gripper).
Once the collection environment is set up per Installation it is ready to use; see Install and build.
What it can do¶
| Leader gripper | Follower gripper | |
|---|---|---|
| Opening | Encoder, 0..1 opening | Motor position, 0..1 opening |
| Other data | IMU, buttons | Motor velocity, torque, temperature |
| Control | — | Impedance control (default), force-position control |
| Shared | LED, wrist camera, fisheye intrinsics, firmware upgrade | Same as the leader gripper, plus motor firmware upgrade and version query |
Visuotactile images are captured by xensesdk and are not part of this SDK. Teleoperation, grasping policies and data recording belong to higher-level applications.
Before you start¶
- The computer never drives the motor directly: every command is relayed by the gripper's main control board, and no program can bypass the protection on that board (the motion safety envelope).
- A gripper can be used by only one program and one controller at a time. Scanning for devices interrupts any other program currently using a gripper.
- Logs are written to
~/.taccaplogs/(change it with the environment variableTACCAP_LOG_DIR), one file per run. Attach the matching log when reporting a problem.
Other pages in this appendix¶
- Install and build: installing for Python, and integrating into C++ / ROS 2 projects.
- API essentials: device discovery, reading the leader gripper, calibration and the wrist camera.
- Examples: example scripts for the leader gripper and wrist camera, and migrating from older versions.
- The follower gripper's controllers, state reading and example scripts: Follower gripper → API and examples.