Struct GripperState

Struct Documentation

struct GripperState

Describes the gripper state.

Public Members

double width = {}

Current gripper opening width. Unit: [m].

double 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].

See also

Gripper::homing.

bool is_grasped = {}

Indicates whether an object is currently grasped.

uint16_t temperature = {}

Current gripper temperature. Unit: [°C].

Duration time = {}

Strictly monotonically increasing timestamp since robot start.