gripper_cmd()
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gripper_cmd()
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Changes the gripper on a specified arm to a specific width with desired pressure.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| arm | str | Name of the arm whose gripper to open. | |
| desire_position | float | Desired position (normalized unit between 0-1)to set the gap within the gripper to. | |
| desired_pressure | float | 0.8 | Maximum pressure (normalized unit between 0-1) allowed to grab. |
| timeout | float | 10.0 | Time in sec to timeout. |
| velocity | float | 0.0 | Velocity (normalized unit between 0-1) to execute the action |
| callback_finish | Callable | None | Function to be called once gripper is finished moving. |
| callback_feedback | Callable | None | Function to be called to collect feedback as gripper is moving. |
| 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. |
Return
| Type | Description |
|---|---|
bool | Retrieves wheter execution stops by position reached. |
bool | Retrieves wheter execution stops by pressure reached. |
bool | Retrieves wheter execution stops by timeout reached. |
float | FInal position of the gripper. |
float | FInal pressure of the gripper. |
Exceptions
RayaInvalidCallbackRayaArmsExceptionRayaArmsInvalidArmOrGroupNameRayaArmsExternalException
See the complete list of arms exceptions
Feedbacks
- [1] The arm is in execution of the command
- [3] Planning of the trajectory in progress
- [4] Updating obstacles in progress
See the complete list of arms feedbacks
Callback Arguments
callback_feedback
| Argument | Type | Description |
|---|---|---|
| feedback_code | int | Code for the type of feedback. |
| feedback_msg | str | Details regarding the feedback code (empty if no error). |
| current_position | float | Current gripper position. |
| current_velocity | float | Current gripper velocity. |
| current_pressure | float | Current gripper pressure. |
| time_left | float | Time left to stop execution |
callback_finish
| Argument | Type | Description |
|---|---|---|
| error | int | Code for the type of error encountered (0 if no error). |
| error_msg | str | Details regarding the error (empty if no error). |
| position_reached | bool | Retrieves wheter execution stops by position reached. |
| pressure_reached | bool | Retrieves wheter execution stops by pressure reached. |
| timeout_reached | bool | Retrieves wheter execution stops by timeout reached. |
| final_position | float | FInal position of the gripper. |
| final_pressure | float | FInal pressure of the gripper. |
Examples
See the Arms Set Gripper Example to see how to open and close the gripper.
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