Class FetchGripper
java.lang.Object
edu.tufts.hrilab.manipulator.generic.GenericManipulator
edu.tufts.hrilab.manipulator.fetch.FetchGripper
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Field Summary
Fields inherited from class edu.tufts.hrilab.manipulator.generic.GenericManipulator
log, maxGraspWidthMeters
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionfloat
Return the current effort, if knownfloat
Return the current gripper position, using the same concept of `position` from moveGripper().float
Return the goal gripper position, if known, in meters.boolean
moveGripper
(float position) Move the gripper.void
shutdown()
Shut down any threads or nodes to make everything nice and clean.Methods inherited from class edu.tufts.hrilab.manipulator.generic.GenericManipulator
graspToDistance, instantiateGenericManipulator
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Constructor Details
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FetchGripper
public FetchGripper()
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Method Details
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moveGripper
public boolean moveGripper(float position) Description copied from class:GenericManipulator
Move the gripper. `position` represents a position in meters. 0.0 is closed, and 0.05 is open 5 cm.- Specified by:
moveGripper
in classGenericManipulator
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getCurrentGripperPosition
public float getCurrentGripperPosition()Description copied from class:GenericManipulator
Return the current gripper position, using the same concept of `position` from moveGripper().- Specified by:
getCurrentGripperPosition
in classGenericManipulator
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getGoalGripperPosition
public float getGoalGripperPosition()Description copied from class:GenericManipulator
Return the goal gripper position, if known, in meters. 0.0 is closed, and 0.05 is open 5 cm.- Specified by:
getGoalGripperPosition
in classGenericManipulator
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getCurrentGripperEffort
public float getCurrentGripperEffort()Description copied from class:GenericManipulator
Return the current effort, if known- Specified by:
getCurrentGripperEffort
in classGenericManipulator
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shutdown
public void shutdown()Description copied from class:GenericManipulator
Shut down any threads or nodes to make everything nice and clean.- Specified by:
shutdown
in classGenericManipulator
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