gripper module

class gripper.RG6(client)

Bases: object

Class for the RG6

Parameters:

client (Client) – instance of Client, holding info about the scene

JOINTS = ['left_inner_knuckle_joint', 'left_inner_finger_joint', 'right_outer_knuckle_joint', 'right_inner_knuckle_joint', 'right_inner_finger_joint']

SIGNS = [-1, 1, -1, -1, 1]

prepare_gripper()

Sets constraints for joints to works as mimic joint in URDF

Returns:

Return type:

reset_constraints()

Remove all constraints

Returns:

Return type:

set_gripper_pose(position, velocity=None, wait=False)

Set goal position of gripper

Parameters:

• position (float) – position of the gripper

• wait (bool) – whether to wait for the motion to finish

Returns:

Return type:

stop()