gripper_controller.TrapezoidGripperModel Class Reference

Public Member Functions
def	__init__ (self)
def	getEffort (self, joint_states)
def	getPosition (self, js)
def	setCommand (self, command)

Public Attributes
	center_l
	center_r
	finger_length
	invert_l
	invert_r
	l_pub
	left_joint
	max_opening
	min_opening
	pad_width
	r_pub
	right_joint

Detailed Description

A simple gripper with two opposing servos to open/close non-parallel jaws. 

Definition at line 38 of file gripper_controller.py.

Constructor & Destructor Documentation

def gripper_controller.TrapezoidGripperModel.__init__

(

self

)

Definition at line 41 of file gripper_controller.py.

Member Function Documentation

def gripper_controller.TrapezoidGripperModel.getEffort	(		self,
			joint_states
	)

Definition at line 95 of file gripper_controller.py.

def gripper_controller.TrapezoidGripperModel.getPosition	(		self,
			js
	)

Definition at line 84 of file gripper_controller.py.

def gripper_controller.TrapezoidGripperModel.setCommand	(		self,
			command
	)

Definition at line 61 of file gripper_controller.py.

Member Data Documentation

gripper_controller.TrapezoidGripperModel.center_l

Definition at line 49 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.center_r

Definition at line 50 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.finger_length

Definition at line 46 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.invert_l

Definition at line 51 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.invert_r

Definition at line 52 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.l_pub

Definition at line 58 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.left_joint

Definition at line 54 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.max_opening

Definition at line 48 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.min_opening

Definition at line 47 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.pad_width

Definition at line 45 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.r_pub

Definition at line 59 of file gripper_controller.py.

gripper_controller.TrapezoidGripperModel.right_joint

Definition at line 55 of file gripper_controller.py.

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The documentation for this class was generated from the following file:

• gripper_controller.py