def set_angle_target(self, position, max_effort = default_max_effort):
self.controller_pub.publish(pcm.Pr2GripperCommand(position=position,max_effort=max_effort))
def set_angle(self, a, max_effort=default_max_effort):
self.grip_client.send_goal(
pcm.Pr2GripperCommandGoal(
pcm.Pr2GripperCommand(position=a, max_effort=max_effort)))
self.pr2.start_thread(Thread(target=self.grip_client.wait_for_result))
def open(self, block, position=0.1, effort = -1):
self.client.send_goal(pm.Pr2GripperCommandGoal(
pm.Pr2GripperCommand(position = position, max_effort = effort)))
if block:
self.client.wait_for_result()
return self.client.get_state()