riq_msgs/RIQHandState Message

# ROS state information from RobotIQ hand

# Action status
int8 FAULTED              = 0
int8 IN_PROGRESS          = 1
int8 ILLEGAL_OR_UNDEFINED = 2
int8 SUCCESSFUL           = 3

# Mode constants
int8 CYLINDRICAL = 0
int8 PINCH       = 1
int8 SPHERIOD    = 2
int8 SCISSORS    = 3

# Grip
int8 STOPPED   = 0
int8 OPENED    = 1
int8 CLOSED    = 2
int8 INITIALIZING_OR_CHANGING = 3

# Object detection status
int8 NOT_DETECTED         = 0
int8 DETECTED_1_FINGER    = 1
int8 DETECTED_2_FINGERS   = 2
int8 DETECTED_ALL_FINGERS = 3


bool    operational  # True when RIQ hand is operational, 
                     # False if there is an error, or hand has not been initialized

int8    status       # Result of last requested action
                     #  SUCCESSFULL, FAULTED, IN_PROGRESS, ILLEGAL_OR_UNDEFINED

int8    mode         # Mode gripper is curretly in:     
                     #  PINCH, CYLINDRICAL, SPHERIOD, SCISSORS 

int8    grip         # Grip
                     #  CLOSED, OPEN, STOPPED, INTIALIZING_OR_CHANGING

int8    object       # Object detection
                     #  NOT_DETECTED, DETECTED_1_FINGER, DETECTED_2_FINGERS, DETECTED_ALL_FINGERS

RIQActuatorState thumb
RIQActuatorState right_finger
RIQActuatorState left_finger
RIQActuatorState scissors      # Scissors is joint motor between right and left finger