pyrobosim.manipulation.grasping.ParallelGraspProperties

class pyrobosim.manipulation.grasping.ParallelGraspProperties(max_width: float, depth: float, height: float, width_clearance: float = 0.0, depth_clearance: float = 0.0)

Representation of a parallel-jaw gripper.

    SIDE VIEW               TOP VIEW
              |            _________
    _____     v           |              ^
===|_____|  height     ===|          max_width
              ^           |_________     v
              |
                          |<-depth->|
       depth_clearance -->||<--

Methods

__init__(max_width, depth, height[, ...])

Creates a parallel gripper grasp properties instance.