iSWAP Module#

The R0 module allows fine grained control of the iSWAP gripper.

Rotations#

You can rotate the iSWAP to 12 predifined positions using iswap_rotate

the positions and their corresponding integer specifications are shown visually here.

alt text

For example to extend the iSWAP fully to the left, the position parameter to iswap_rotate would be 12