pyrobosim.manipulation.grasping.ParallelGraspProperties.__init__

ParallelGraspProperties.__init__(max_width: float, depth: float, height: float, width_clearance: float = 0.0, depth_clearance: float = 0.0) → None

Creates a parallel gripper grasp properties instance.

Parameters:

• max_width – Maximum gripper opening width

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

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

• width_clearance – Width clearance so grasps are not flush with gripper fingers

• depth_clearance – Depth clearance so grasps are not flush with gripper base