LoCoBot Gripper

class pyrobot.robots.locobot.gripper.LoCoBotGripper(configs, ns='', wait_time=3)

Bases: pyrobot.robots.gripper.Gripper

Interface for gripper

__init__(configs, ns='', wait_time=3)

The constructor for LoCoBotGripper class.

Parameters

• configs (YACS CfgNode) – configurations for gripper

• wait_time (float) – waiting time for opening/closing gripper

close(wait=True)

Commands gripper to close fully

Parameters

wait (bool) – True if blocking call and will return after target_joint is achieved, False otherwise

get_gripper_state()

Return the gripper state.

Returns

state

state = -1: unknown gripper state

state = 0: gripper is fully open

state = 1: gripper is closing

state = 2: there is an object in the gripper

state = 3: gripper is fully closed

Return type

int

open(wait=True)

Commands gripper to open fully

Parameters

wait (bool) – True if blocking call and will return after target_joint is achieved, False otherwise

reset(wait=True)

Utility function to reset gripper if it is stuck

Parameters

wait (bool) – True if blocking call and will return after target_joint is achieved, False otherwise