Module gripper 

Gripper wire structs, ported from common/include/research_interface/gripper/types.h (libfranka 0.21.2). The gripper speaks the same framing as the robot but with a 10-byte header (uint16_t command) and uint16_t statuses.

Structs

GraspRequest

gripper::Grasp::Request — 40 bytes (epsilon is the nested GraspEpsilon struct).

GripperCommandHeader

gripper::CommandHeader — 10 bytes.

GripperCommandResponse

The response of Homing, Grasp, Move and Stop — 2 bytes.

GripperConnectRequest

gripper::Connect::Request — 4 bytes.

GripperConnectResponse

gripper::Connect::Response — 4 bytes.

GripperMoveRequest

gripper::Move::Request — 16 bytes.

GripperState

gripper::GripperState — 23 bytes, streamed over UDP at roughly 60 Hz.

Enums

GripperCommand

Gripper command identifiers (research_interface::gripper::Command, uint16_t).

GripperConnectStatus

gripper::Connect::Status (uint16_t).

GripperStatus

gripper::CommandBase::Status (uint16_t), shared by every command but Connect.

Constants

GRIPPER_COMMAND_PORT

Gripper command TCP port (research_interface::gripper::kCommandPort).

GRIPPER_VERSION

Gripper protocol version implemented by this crate (research_interface::gripper::kVersion).