Add arm.gripper_position_detector.min_position to compare

Author: GustavoDCC

robot_skills/src/robot_skills/arm/gripper_position_detector.py

@@ -7,14 +7,15 @@
 
 
 class GripperPositionDetector(RobotPart):
-    def __init__(self, robot_name: str, tf_buffer: str, joint_topic: str) -> None:
+    def __init__(self, robot_name: str, tf_buffer: str, joint_topic: str, min_position: float) -> None:
         """
         Class for getting the position of the hand motor joint (how much the gripper is open or closed)
         Values go from 1 (open) to -1 (closed)
 
         :param robot_name: Name of the robot
         :param tf_buffer: tf2_ros.Buffer for use in RobotPart
         :param joint_topic: Topic to use for measurement
+        :param min_position: Range value from -1.0 (gripper fully opened) to 1.0 (closed fully closed)
         """
 
         super(GripperPositionDetector, self).__init__(robot_name=robot_name, tf_buffer=tf_buffer)
@@ -24,6 +25,7 @@ def __init__(self, robot_name: str, tf_buffer: str, joint_topic: str) -> None:
         self.current_position = None
         self.store_position = False  # Flag to store the position
         self.start_time = None
+        self.min_position = min_position
 
     def _joint_callback(self, msg: JointState) -> None:
         """