franka::GripperState Struct Reference

Describes the gripper state. More...

#include <gripper_state.h>

Collaboration diagram for franka::GripperState:

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.

Detailed Description

Describes the gripper state.

Examples

grasp_object.cpp.

Member Data Documentation

max_width

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: \([m]\).

See also

Gripper::homing.

Examples

grasp_object.cpp.

temperature

uint16_t franka::GripperState::temperature {}

Current gripper temperature.

Unit: \([°C]\).

width

double franka::GripperState::width {}

Current gripper opening width.

Unit: \([m]\).

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The documentation for this struct was generated from the following file:

• include/franka/gripper_state.h