Package edu.tufts.hrilab.manipulator.pr2

Class PR2BothGrippers

java.lang.Object

edu.tufts.hrilab.manipulator.generic.GenericManipulator

edu.tufts.hrilab.manipulator.pr2.PR2BothGrippers

public class PR2BothGrippers
extends GenericManipulator

Field Summary

Fields inherited from class edu.tufts.hrilab.manipulator.generic.GenericManipulator

log, maxGraspWidthMeters

Constructor Summary

Constructors

Constructor	Description
PR2BothGrippers()

Method Summary

Modifier and Type	Method	Description
float	getCurrentGripperEffort()	Return the current effort, if known
float	getCurrentGripperPosition()	Return the current gripper position, using the same concept of `position` from moveGripper().
float	getGoalGripperPosition()	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

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

PR2BothGrippers

public PR2BothGrippers()

Method Details

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 class GenericManipulator

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 class GenericManipulator

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 class GenericManipulator

getCurrentGripperEffort

public float getCurrentGripperEffort()

Description copied from class: GenericManipulator

Return the current effort, if known

Specified by:

getCurrentGripperEffort in class GenericManipulator

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 class GenericManipulator