[ros-users] Poineer Gipper

[safdar_zaman]

Hi,
Gripper movers in and out.I found that following two commands close the
gripper inwards:
$rostopic pub /gripper_control p2os_driver/GripperState '{grip: {state: 2,
dir: -1, inner_beam: False, outer_beam: False, left_contact: False,
right_contact: False}, lift: {state: 0, dir: 0, position: 0.0 }}'
$rostopic pub /gripper_control p2os_driver/GripperState '{grip: {state: 0,
dir: 0, inner_beam: False, outer_beam: False, left_contact: False,
right_contact: False}, lift: {state: 2, dir: -1, position: 0.0 }}'

and following two commands open the gripper outwards:
$rostopic pub /gripper_control p2os_driver/GripperState '{grip: {state: 1,
dir: 1, inner_beam: False, outer_beam: False, left_contact: False,
right_contact: False}, lift: {state: 0, dir: 0, position: 0.0 }}'
$rostopic pub /gripper_control p2os_driver/GripperState '{grip: {state: 0,
dir: 0, inner_beam: False, outer_beam: False, left_contact: False,
right_contact: False}, lift: {state: 1, dir: 1, position: 0.0 }}'

But to Move the Gripper Up and Down I tried different arguments on lift
options but it does not function.
How to move Gripper Up and Down? Or any Tutorial about these arguments of
Gripper?
Thanks in advance.
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