libfranka 0.15.0
FCI C++ API
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Describes the gripper state. More...
#include <gripper_state.h>
Public Attributes | |
double | width {} |
Current gripper opening width. | |
double | max_width {} |
Maximum gripper opening width. | |
bool | is_grasped {} |
Indicates whether an object is currently grasped. | |
uint16_t | temperature {} |
Current gripper temperature. | |
Duration | time {} |
Strictly monotonically increasing timestamp since robot start. | |
Describes the gripper state.
double franka::GripperState::max_width {} |
Maximum gripper opening width.
This parameter is estimated by homing the gripper. After changing the gripper fingers, a homing needs to be done. Unit: \([m]\).
uint16_t franka::GripperState::temperature {} |
Current gripper temperature.
Unit: \([°C]\).
double franka::GripperState::width {} |
Current gripper opening width.
Unit: \([m]\).