set_gripper_close()
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set_gripper_close()
- 1 Minute to read
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set_gripper_close()
Closes the gripper on the specified arm with desired pressure and width.
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| arm | str | Name of the arm whose gripper to open. | |
| desired_pressure | float | 10.0 | Desired pressure to close the gripper at. |
| width | float | 0.0 | Desired width to set the gap within the gripper to. |
| callback_finish | function | None | Function to be called once gripper is finished opening. |
| wait | bool | False | If True, program will wait until gripper is finished being opened before continuing with other code. If False, program will continue running asynchronously. |
Callback Finish Arguments
| Argument | Type | |
|---|---|---|
| error | int | Code for the type of error encountered (0 if no error). |
| error_msg | str | Details regarding the error (empty if no error). |
| hand | str | Name of the arm whose gripper to open |
| action | str | The name of the action performed (opening or closing). |
Return
None
Exceptions
| Exception | Condition |
|---|---|
RayaArmsException | Exception from arms method. |
RayaArmsControllerNotReady | Arms controller not yet ready. |
See the complete list of Raya Exceptions.
Examples
See the Arms Set Gripper Example to see how to open and close the gripper.
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