Questions about the onrobot rg2 grippr

[zhanghua7099]

Hi! Thanks for open-sourcing this project! I'm new in onrobot gripped RG2 and want to know the relationship between the joint angle and gripper width. In this project, it seems that the width can be computed by:

arws/src/gripper_control/gripper_control/gripper_control_node.py

Line 265 in 633ee0d

def width(self):

Could you please give me some documents about how to calculate this value? Since I want to know the position of the fingertips relative to the base of the gripper, I want to learn it in details.

Thank you very much!