libhsraction

Library for ROS Actions of HSR.

class libhsraction.LibHSRAction

Bases: object

HSR ROS Action library for WRS simlator.

delete()

gripper_apply_force(force, is_sync=True)

Drive the gripper by force specification.

Parameters

• force (float) – Grasping force. The value must be between 0.0 and 1.0.

• is_sync (bool, optional) – Whether to wait for the end. Defaults to True.

Returns

If is_sync is True, returns the result of the action.

Otherwise, it returns the SimpleActionClient.

Return type

bool