franka::VacuumGripperState Struct Reference

Describes the vacuum gripper state. More...

#include <vacuum_gripper_state.h>

Collaboration diagram for franka::VacuumGripperState:

Public Attributes
bool	in_control_range {}
	Vacuum value within in setpoint area.
bool	part_detached {}
	The part has been detached after a suction cycle.
bool	part_present {}
	Vacuum is over H2 and not yet under H2-h2.
VacuumGripperDeviceStatus	device_status {}
	Current vacuum gripper device status.
uint16_t	actual_power {}
	Current vacuum gripper actual power.
uint16_t	vacuum {}
	Current system vacuum.
Duration	time {}
	Strictly monotonically increasing timestamp since robot start.

Detailed Description

Describes the vacuum gripper state.

For more information check the cobot-pump manual.

Examples

vacuum_object.cpp.

Member Data Documentation

actual_power

uint16_t franka::VacuumGripperState::actual_power {}

Current vacuum gripper actual power.

Unit: \([%]\).

part_present

bool franka::VacuumGripperState::part_present {}

Vacuum is over H2 and not yet under H2-h2.

For more information check the cobot-pump manual.

vacuum

uint16_t franka::VacuumGripperState::vacuum {}

Current system vacuum.

Unit: \([mbar]\).

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

• include/franka/vacuum_gripper_state.h