How to calibrate a gripper

To grasp, make sure that you set the proper min_value and max_value in the config for the range in which the gripper joint moves. All joint values are normalized between 0 (closed) and 1 (open) and the joint values vary from min_value and max_value.

To calibrate a gripper, use the script provided in crisp_py:

python scripts/gripper_manual_calibration.py --help

The script will guide you in calibration procedure: ../media/gripper_calibration_output.png

After this, control the gripper as follows:

from crisp_py.gripper import Gripper, GripperConfig

gripper_config = GripperConfig.from_yaml("path/to/yaml")
# or gripper_config = GripperConfig(min_value=x.x, max_value=x.x)

gripper = Gripper(config=gripper_config)
gripper.open()  # equivalent to gripper.set_target(1.0)
gripper.close()  # equivalent to gripper.set_target(0.0)
gripper.set_target(0.5)
gripper.shutdown()