Gripper

class sawyer.gripper.SawyerGripper(configs, ee_name='right_gripper', calibrate=True, wait_time=3)

Bases: pyrobot.core.Gripper

Interface for gripper.

__init__(configs, ee_name='right_gripper', calibrate=True, wait_time=3)

Parameters:

• configs (YACS CfgNode) – configurations for the robot
• ee_name (str) – robot gripper name (default: “right_gripper”)
• calibrate (bool) – Attempts to calibrate the gripper when initializing class (defaults True)
• wait_time (float) – waiting time for opening/closing gripper

close(position=None, wait=True)

Commands gripper to close fully

Parameters:

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

open(position=None, wait=True)

Commands gripper to open fully

Parameters:

• position (float) – gripper position
• 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