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Gripper

Interface to a robotic gripper, such as a multi-fingered hand or the gripper on Pioneer robots.

Inputs

None.

Outputs

Port name Purpose Data
State Regularly-emitted status of the gripper. GripperState
Breakbeams Status of any breakbeams in the gripper indicating position of an object within the gripper. TimedBoolean
Force Force detected by any force sensors in the gripper in Newtons. TimedDouble

GripperState

Value Description
GRIPPER_STATE_OPEN Gripper is open.
GRIPPER_STATE_CLOSED Gripper is closed.
GRIPPER_STATE_MOVING Gripper is moving between states.
GRIPPER_STATE_UNKNOWN Gripper is in an unknown state, such as an error.

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information None GripperGeometry
Open Command the gripper to open. None None
Close Command the gripper to close. None None

GripperGeometry

Member Type Description
baseGeometry Geometry3D Geometry of the exterior of the gripper when open.
interiorGeometry Geometry3D Geometry of the gripper's interior space when open, in gripper coordinate space.
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