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control_adaptive_pinch_gripper

Skill class for ai.intrinsic.control_adaptive_pinch_gripper skill.

The control_adaptive_pinch_gripper skill controls an adaptive pinch gripper through position, velocity and/or force. To close the gripper, set its position to 0%, to open it, set its position to 100%. Precondition to execute: the gripper resource has been enabled using the ai.intrinsic.enable_gripper skill.

Prerequisites​

This skill does not have any prerequisite.

Usage Example​

This skill is used to open and close an adaptive pinch gripper, through position, velocity and/or force. The gripper is expected to be controlled by a PinchGripperServer service. The following image shows an example instance of the control_adaptive_pinch_gripper skill that closes the gripper (position 0) with 50% of the maximum speed and 80% of maximum force(effort).

control_adaptive_pinch_gripper example

After sending the command to the service, the skill waits for confirmation from the service. The timeout specifies the timeout in seconds to wait for the confirmation.

Parameters​

command​

The command to send to the gripper.

timeout​

Optional timeout in seconds to wait for a return status from the gripper. Default to 10 seconds.

Capabilities​

gripper​

Resource with capability intrinsic_proto.gripper.PinchGripperServer

Error Code​

The skill does not have error codes yet