pylabrobot.resources.MechanicalGripper.__init__#

MechanicalGripper.__init__(name: str, proximal_joint: Coordinate, tool_center_point: Coordinate, body: Resource, body_location: Coordinate, fingers: Sequence[Resource], finger_location: Coordinate, jaw_range: Tuple[float, float], pads: Sequence[Resource] | None = None, pad_location: Coordinate | None = None, jaw_width: float | None = None, category: str = 'mechanical_gripper', model: str | None = None)#
Parameters:

  • name (str) – what to call this one.

  • proximal_joint (Coordinate) – where the joint this gripper turns on sits within it.

  • tool_center_point (Coordinate) – the point it grips at, from proximal_joint - the flange it is mounted on - rather than from this gripper’s own origin.

  • body (Resource) – the material around the span, which is also what sizes this member.

  • body_location (Coordinate) – where it sits, from this gripper’s own origin.

  • fingers (Sequence[Resource]) – the two jaws, either side of the span.

  • finger_location (Coordinate) – where a finger sits along and above the span. Its Y is not used: the jaws straddle tool_center_point, and jaw_width sets how far apart.

  • jaw_range (Tuple[float, float]) – the gap between the fingers, closed and open, in mm.

  • pads (Sequence[Resource] | None) – what each finger meets the resource with, in the same order as fingers. A gripper whose fingers meet it themselves has none.

  • pad_location (Coordinate | None) – where a pad sits, from the finger it is fixed to. Given with pads.

  • jaw_width (float | None) – the gap to begin with, in mm. Open, when not given.

  • category (str)

  • model (str | None)