def set_gripper_action()

in src/rosbridge/fetch_proxy.py [0:0]

• 19 lines of code
• 3 McCabe index (conditional complexity)

    def set_gripper_action(self, action):

        grip = action[self.joint_name_map.get('l_gripper_finger_joint')]

        goal = GripperCommandGoal()
        if grip > 0:
            goal.command.max_effort = 60*min(1.0, grip)
            goal.command.position = 0.0
        else:
            goal.command.max_effort = 60
            goal.command.position = 0.1

        self.gripper_client.send_goal(goal)

        with self.timeseq_mutex:
            if self.timeseq:
                state = {
                    '__type': 'FetchGripperAction',
                    'action': grip,
                    'effort': goal.command.max_effort,
                    'pos': goal.command.position,
                }
                self.timeseq.add(time.time(), 'gripper_action', state)