pr2_gripper_sensor_msgs/PR2GripperForceServoData Message

File: pr2_gripper_sensor_msgs/PR2GripperForceServoData.msg

# Time the data was recorded at
time stamp

# the force experienced by the finger Pads  (N)
# NOTE:this ignores data from the edges of the finger pressure
float64 left_fingertip_pad_force
float64 right_fingertip_pad_force

# the current gripper virtual parallel joint effort (in N)
float64 joint_effort

# true when the gripper is no longer moving
# and we have reached the desired force level
bool force_achieved


# the control state of our realtime controller
PR2GripperSensorRTState rtstate

Expanded Definition

time stamp
float64 left_fingertip_pad_force
float64 right_fingertip_pad_force
float64 joint_effort
bool force_achieved
PR2GripperSensorRTState rtstate
    int8 DISABLED=0
    int8 POSITION_SERVO=3
    int8 FORCE_SERVO=4
    int8 FIND_CONTACT=5
    int8 SLIP_SERVO=6
    int8 realtime_controller_state