Package intera_interface :: Module gripper :: Class Gripper

Class Gripper

object --+
         |
        Gripper

Interface class for a gripper on the Intera Research Robot.

Instance Methods

[hide private]

__init__(self, side='right', calibrate=True)
Constructor. source code

_config_callback(self, msg)
config topic callback

source code

bool

reboot(self)
Power cycle the gripper, removing calibration information.

source code

bool

stop(self)
Set the gripper to stop executing command at the current position, apply holding force.

source code

bool

start(self)
Set the gripper to start executing command at the current position, apply holding force.

source code

bool

open(self, position=0.041667)
Set the gripper position to open by providing opening position.

source code

bool

close(self, position=0.0)
Set the gripper position to close by providing closing position.

source code

bool

has_error(self)
Returns a bool describing whether the gripper is in an error state.

source code

bool

is_ready(self)
Returns bool describing if the gripper ready, i.e.

source code

bool

is_moving(self)
Returns bool describing if the gripper is moving.

source code

bool

is_gripping(self)
Returns bool describing if the gripper is gripping.

source code

bool

is_calibrated(self)
Returns bool describing if the gripper is calibrated.

source code

bool

calibrate(self)
Calibrate the gripper in order to set maximum and minimum travel distance.

source code

float

get_position(self)
Returns float describing the gripper position in meters.

source code

bool

set_position(self, position)
Set the position of gripper.

source code

float

set_velocity(self, speed)
Set the velocity at which the gripper position movement will execute.

source code

float

get_force(self)
Returns the force sensed by the gripper in estimated Newtons.

source code

bool

set_holding_force(self, holding_force)
Set holding force of successful gripper grasp.

source code

bool

set_object_weight(self, object_weight)
Set the weight of the object in kilograms.

source code

bool

set_dead_zone(self, dead_zone)
Set the gripper dead zone describing the position error threshold where a move will be considered successful.

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Class Variables

[hide private]

MAX_POSITION = 0.041667

MIN_POSITION = 0.0

MAX_FORCE = 10.0

MIN_FORCE = 0.0

MAX_VELOCITY = 3.0

MIN_VELOCITY = 0.15

Properties

[hide private]

Inherited from object: __class__

Method Details

[hide private]

init(self, side=`'right'`, calibrate=True)
(Constructor)

source code

Constructor.

Parameters:

side (str) - robot gripper name
calibrate (bool) - Attempts to calibrate the gripper when initializing class (defaults True)

Overrides: object.__init__

reboot(self)

source code

Power cycle the gripper, removing calibration information.

Basic call to the gripper reboot command. Waits for gripper to return ready state but does not clear errors that could occur during boot.

Returns: bool: True if successfully Rebooted, False otherwise

stop(self)

source code

Set the gripper to stop executing command at the current position, apply holding force.

Returns: bool: True if successfully Stopped, False otherwise

start(self)

source code

Set the gripper to start executing command at the current position, apply holding force.

Returns: bool: True if successfully Started, False otherwise

open(self, position=0.041667)

source code

Set the gripper position to open by providing opening position.

Returns: bool: True if successfully set Position, False otherwise

close(self, position=0.0)

source code

Set the gripper position to close by providing closing position.

Returns: bool: True if successfully set Position, False otherwise

has_error(self)

source code

Returns a bool describing whether the gripper is in an error state. (True: Error detected, False: No errors)

Returns: bool: True if in error state, False otherwise

is_ready(self)

source code

Returns bool describing if the gripper ready, i.e. is calibrated, not busy (as in resetting or rebooting), and not moving.

Returns: bool: True if in ready state, False otherwise

is_moving(self)

source code

Returns bool describing if the gripper is moving.

Returns: bool: True if in moving state, False otherwise

is_gripping(self)

source code

Returns bool describing if the gripper is gripping.

Returns: bool: True if in gripping state, False otherwise

is_calibrated(self)

source code

Returns bool describing if the gripper is calibrated.

Returns: bool: True if successfully calibrated, False otherwise

calibrate(self)

source code

Calibrate the gripper in order to set maximum and minimum travel distance.

Returns: bool: True if successfully calibrating, False otherwise

get_position(self)

source code

Returns float describing the gripper position in meters.

Returns: float: Current Position value in Meters (m)

set_position(self, position)

source code

Set the position of gripper.

Returns: bool: True if successfully set value, False otherwise

set_velocity(self, speed)

source code

Set the velocity at which the gripper position movement will execute.

Returns: float: Current Velocity value in Meters / second (m/s)

get_force(self)

source code

Returns the force sensed by the gripper in estimated Newtons.

Returns: float: Current Force value in Newton-Meters (N-m)

set_holding_force(self, holding_force)

source code

Set holding force of successful gripper grasp.

Set the force at which the gripper will continue applying after a position command has completed either from successfully achieving the commanded position, or by exceeding the moving force threshold.

Returns: bool: True if successfully set value, False otherwise

set_object_weight(self, object_weight)

source code

Set the weight of the object in kilograms.

Returns: bool: True if successfully set value, False otherwise

set_dead_zone(self, dead_zone)

source code

Set the gripper dead zone describing the position error threshold where a move will be considered successful.

Returns: bool: True if successfully set value, False otherwise

Class Gripper

__init__(self, side='right', calibrate=True) (Constructor)

reboot(self)

stop(self)

start(self)

open(self, position=0.041667)

close(self, position=0.0)

has_error(self)

is_ready(self)

is_moving(self)

is_gripping(self)

is_calibrated(self)

calibrate(self)

get_position(self)

set_position(self, position)

set_velocity(self, speed)

get_force(self)

set_holding_force(self, holding_force)

set_object_weight(self, object_weight)

set_dead_zone(self, dead_zone)

init(self, side=`'right'`, calibrate=True)
(Constructor)