OPEN HAND(3)

NAME
OPEN_HAND, CLOSE_HAND -- RCCL primitives to open and close the robot hand.

USAGE
OPEN_HAND(mnp)
  MANIP *mnp;

CLOSE_HAND(mnp)
  MANIP *mnp;

ARGUMENTS

mnp --
    Manipulator reference structure.

DESCRIPTION
These macros open and close the hand of a robot.

DIAGNOSTICS
The macros will do nothing if you try to apply them to a virtual manipulator.

BUGS
To read back the hand position you have to look in the robot's "HOW" structure. The macros need to be supplemeted by something like HAND_POSITION(), which can be used to set an adjustable gripper to a particular position.

SEE ALSO
rcclCreate(3), HOW(3).