3.5. Mechanical Gripper¶

gripper_ctrl.open()¶

Example description:
Description:	Controls the opening of the mechanical gripper
Parameters:	void – None
Returns:	None
Example:	`gripper_ctrl.open()`
	Control the opening of the mechanical gripper

gripper_ctrl.close()¶

Example description:
Description:	Controls the closing of the mechanical gripper
Parameters:	void – None
Returns:	None
Example:	`gripper_ctrl.close()`
	Control the closing of the mechanical gripper

gripper_ctrl.stop()¶

Example description:
Description:	Controls the stopping of the mechanical gripper
Parameters:	void – None
Returns:	None
Example:	`gripper_ctrl.stop()`
	Control the stopping of the mechanical gripper

gripper_ctrl.update_power_level(level)¶

Example description:
Description:	Sets the force level of the gripper
Parameters:	level (int) – The force level of the mechanical gripper, whose range is [1:4]. The default is 1.
Returns:	None
Example:	`gripper_ctrl.update_power_level(1)`
	Set the force level of the gripper to 1

gripper_ctrl.is_closed()¶

Example description:
Description:	Obtains the clamping state of the mechanical gripper
Parameters:	void – None
Returns:	The clamping state of the mechanical gripper. If the mechanical gripper is clamped, true is returned, otherwise false is returned.
Return type:	bool
Example:	`ret = gripper_ctrl.is_closed()`
	Obtain the clamping state of the mechanical gripper

gripper_ctrl.is_open()¶

Example description:
Description:	Obtains the open state of the mechanical gripper
Parameters:	void – None
Returns:	The open state of the mechanical gripper. If the mechanical gripper is fully opened, true is returned, otherwise false is returned.
Return type:	bool
Example:	`ret = gripper_ctrl.is_open()`
	Obtain the open state of the mechanical gripper

Hint

For the description of the module, refer to Mechanical Arm and Mechanical Gripper.