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from interbotix_xs_modules.arm import InterbotixManipulatorXS

# This script closes and opens the gripper with maximum pressue
#
# To get started, open a terminal and type 'roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=wx250s'
# Then change to this directory and type 'python gripper_control.py'

def main():
    arm = InterbotixManipulatorXS("wx250s", "arm", "gripper")
    arm.gripper.set_pressure(1.0)
    input("Press Enter to close the gripper...")
    arm.gripper.close(delay=4.0)
    input("Press enter to open the gripper...")
    arm.gripper.open(delay=4.0)

if __name__=='__main__':
    main()