Struct Gripper 

pub struct Gripper { /* private fields */ }

Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands (port of franka::Gripper).

The underlying Network is Sync (see crate::network::TcpSession and crate::network::UdpChannel), so the members of this struct are threadsafe, matching libfranka’s documented guarantee for franka::Gripper – except that only one Gripper::read_once should be in flight at a time, since concurrent callers would race to claim the same UDP datagram.

Implementations

impl Gripper

pub fn new(franka_address: &str) -> FrankaResult<Gripper>

Establishes a connection with a gripper connected to a robot.

franka_address is the IP/hostname of the robot the gripper is connected to, as "host" or "host:port"; the gripper command port (1338) is used unless an explicit port is embedded in the address.

Errors

Returns FrankaError::Network if the connection is unsuccessful and FrankaError::IncompatibleVersion if this crate’s gripper protocol version is not supported by the server.

pub fn server_version(&self) -> u16

Returns the software version reported by the connected server.

pub fn homing(&self) -> FrankaResult<bool>

Performs homing of the gripper.

After changing the gripper fingers, a homing needs to be done. This is needed to estimate the maximum grasping width.

Errors

Returns FrankaError::Command if the command failed or was aborted, and FrankaError::Network if the connection is lost, e.g. after a timeout.

See GripperState::max_width for the maximum grasping width.

pub fn grasp( &self, width: f64, speed: f64, force: f64, epsilon_inner: f64, epsilon_outer: f64, ) -> FrankaResult<bool>

Grasps an object.

An object is considered grasped if the distance d between the gripper fingers satisfies (width - epsilon_inner) < d < (width + epsilon_outer).

epsilon_inner and epsilon_outer default to 0.005 in libfranka’s C++ overload; this port takes both explicitly (there is no default-argument mechanism in a fn).

Errors

Returns FrankaError::Command if the command failed or was aborted, and FrankaError::Network if the connection is lost, e.g. after a timeout.

pub fn move_gripper(&self, width: f64, speed: f64) -> FrankaResult<bool>

Moves the gripper fingers to a specified width.

Errors

Returns FrankaError::Command if the command failed or was aborted, and FrankaError::Network if the connection is lost, e.g. after a timeout.

pub fn stop(&self) -> FrankaResult<bool>

Stops a currently running gripper move or grasp.

Errors

Returns FrankaError::Command if the command failed or was aborted, and FrankaError::Network if the connection is lost, e.g. after a timeout.

pub fn read_once(&self) -> FrankaResult<GripperState>

Waits for a gripper state update and returns it.

Port of Gripper::readOnce: first drains every datagram already queued on the UDP socket (stale data from before this call), then blocks for one fresh state.

Errors

Returns FrankaError::Network if the connection is lost, e.g. after a timeout.

Trait Implementations

impl Debug for Gripper

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.