gripper_cmd()

---

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

• RayaInvalidCallback

• RayaArmsException

• RayaArmsInvalidArmOrGroupName

• RayaArmsExternalException

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.

Usage Example

See the Arms Set Gripper Example to see how to open and close the gripper.