def open_gripper(self): code = vrep.simxSetJointForce(self.ID, self.gripper_motor, 20, const_v.simx_opmode_blocking) # print(code) code = vrep.simxSetJointTargetVelocity(self.ID, self.gripper_motor, 0.05, const_v.simx_opmode_blocking)
def close_gripper(self, render=False): code = vrep.simxSetJointForce(self.ID, self.gripper_motor, 20, const_v.simx_opmode_blocking) # print(code) code = vrep.simxSetJointTargetVelocity(self.ID, self.gripper_motor, -0.05, const_v.simx_opmode_blocking) if render: self.render()
def set_maximum_force(self, force): v.simxSetJointForce(self._id, self._handle, force, self._def_op_mode)