Struct franka::gripper::Gripper

pub struct Gripper { /* fields omitted */ }

Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands.

Implementations

impl Gripper

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

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

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

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.

pub fn homing(&mut 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

• NetworkException if the connection is lost, e.g. after a timeout. CommandException if an error occurred

Return

True if command was successful, false otherwise.

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

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.

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

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.

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

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.

pub fn server_version(&self) -> u16

Returns the software version reported by the connected server.

Return

Software version of the connected server.