⚙ Development Guide > SDK > Appendix

Supported Teaching-Pendant and Gripper Models

To correspond to the P6 navigation, this page uses “Supported Teaching-Pendant and Gripper Models” as its section name. The table below indicates only the names recognized by the P7 SDK's current numeric conversion utility; it is not the official hardware compatibility list for the complete P7 system.

arm_p7_sdk.utilities.map_pendant_to_gripper() performs a linear numeric mapping between teaching-pendant travel and gripper travel. It does not create a client, read hardware, or send control commands.

Interface

from arm_p7_sdk import utilities

target_mm = utilities.map_pendant_to_gripper(
    20.0,
    from_pendant="E2",
    to_gripper="G2",
    clamp=True,
)
print(target_mm)

map_pendant_to_gripper(
    pos: float,
    *,
    from_pendant: str,
    to_gripper: str,
    clamp: bool = True,
) -> float

Both pos and the return value use mm.

Recognized Names

Parameter	Values Currently Recognized by the Utility	Failures and Limitations
from_pendant	E2, REPLAY, REPLAY_MINI	An unknown name raises ValueError
to_gripper	G2, G2L, G2P	An unknown name raises ValueError
clamp	True or False; default True	True clamps input and output to built-in ranges; False permits linear extrapolation

These names identify only mapping-table entries recognized by the current pure numeric function. They are not an official P7 teaching-pendant or gripper compatibility list and do not prove that the corresponding hardware is installed on the target complete system.

Usage Limitations

The current utility table uses a G2P upper limit of 95 mm, while the verified complete-system configuration uses 96 mm; the two sources have not yet been reconciled. Before sending an EEF target, verify the model, degrees of freedom, travel, units, and control mode against the currently delivered configuration. Never pass the conversion result directly to move_eef() without a range check.

SDK input and feedback for a linear EEF use mm/mm/s; effort remains a native drive quantity. See API Reference for the complete function description and EEFState (End-Effector State) for the actual EEF state fields.