pyrobosim.manipulation.grasping.ParallelGraspProperties.__init__

ParallelGraspProperties.__init__(max_width, depth, height, width_clearance=0.0, depth_clearance=0.0)

Creates a parallel gripper grasp properties instance.

Parameters:

• max_width (float) – Maximum gripper opening width

• depth (float) – Distance from end effector base to finger tips (or equivalent)

• height (float) – Height of end effector finger tips (or equivalent)

• width_clearance (float, optional) – Width clearance so grasps are not flush with gripper fingers

• depth_clearance (float, optional) – Depth clearance so grasps are not flush with gripper base