Struct franka::gripper::Gripper [−][src]
pub struct Gripper { /* fields omitted */ }
Expand description
Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands.
Implementations
Establishes a connection with a gripper connected to a robot.
Arguments
franka_address
- IP/hostname of the robot the gripper is connected to.
Errors
NetworkException
if the connection is lost, e.g. after a timeout.IncompatibleLibraryVersionError
if this version of libfranka-rs is not supported
Moves the gripper fingers to a specified width.
Arguments
width
- Intended opening width. [m]speed
- Closing speed. [m/s]
Errors
NetworkException
if the connection is lost, e.g. after a timeout.CommandException
if an error occurred
Return
True if command was successful, false otherwise.
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
NetworkException
if the connection is lost, e.g. after a timeout.CommandException
if an error occurred
Return
True if command was successful, false otherwise.
Stops a currently running gripper move or grasp.
Errors
NetworkException
if the connection is lost, e.g. after a timeout.CommandException
if an error occurred
Return
True if command was successful, false otherwise.
Grasps an object.
An object is considered grasped if the distance d
between the gripper fingers satisfies
Arguments
width
- Size of the object to grasp. [m]speed
- Closing speed. [m/s]force
- Grasping force. [N]epsilon_inner
- Maximum tolerated deviation when the actual grasped width is smaller than the commanded grasp width. Default is 0.005.epsilon_outer
- Maximum tolerated deviation when the actual grasped width is larger than the commanded grasp width. Default is 0.005.
Errors
NetworkException
if the connection is lost, e.g. after a timeout.CommandException
if an error occurred
Return
True if an object has been grasped, false otherwise.
Waits for a gripper state update and returns it.
Errors
NetworkException
if the connection is lost, e.g. after a timeout.CommandException
if an error occurred
Return
Current gripper state.
Returns the software version reported by the connected server.
Return
Software version of the connected server.
Auto Trait Implementations
impl RefUnwindSafe for Gripper
impl UnwindSafe for Gripper
Blanket Implementations
Mutably borrows from an owned value. Read more
type Output = T
type Output = T
Should always be Self
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
pub fn vzip(self) -> V