Expand description
Franka Hand gripper client.
Port of libfranka 0.21.2 include/franka/gripper.h, include/franka/gripper_state.h and
src/gripper.cpp. Gripper maintains a network connection to the gripper, provides the
current gripper state via Gripper::read_once, and executes the four gripper commands
(homing, grasp, move_gripper, stop).
The gripper protocol reuses the FCI’s TCP/UDP framing (see crate::network) with a
10-byte command header and u16 statuses (see crate::wire::gripper) instead of the
robot’s 12-byte header and u8 statuses.
Structs§
- Gripper
- Maintains a network connection to the gripper, provides the current gripper state, and
allows the execution of commands (port of
franka::Gripper). - Gripper
State - Describes the gripper state (
franka::GripperState).