Collaboration diagram for gripper:
Detailed DescriptionGripper interface.
gripper interface provides access to a robotic gripper. A gripper is a device capable of closing around and carrying an object of suitable size and shape. On a mobile robot, a gripper is typically mounted near the floor on the front, or on the end of a robotic limb. Grippers typically have two "fingers" that close around an object. Some grippers can detect whether an objcet is within the gripper (using, for example, light beams). Some grippers also have the ability to move the a carried object into a storage system, freeing the gripper to pick up a new object, and move objects from the storage system back into the gripper.
|Data subtype: state. |
|Request subtype: get geometry. |
|Command: Open (PLAYER_GRIPPER_CMD_OPEN). |
|Command: Close (PLAYER_GRIPPER_CMD_CLOSE). |
|Command: Stop (PLAYER_GRIPPER_CMD_STOP). |
|Command: Store (PLAYER_GRIPPER_CMD_STORE). |
|Command: Retrieve (PLAYER_GRIPPER_CMD_RETRIEVE). |
|Gripper state: open. |
|Gripper state: closed. |
|Gripper state: moving. |
|Gripper state: error. |
|Data: state (PLAYER_GRIPPER_DATA_STATE). |
|Request/reply: get geometry. |
|#define PLAYER_GRIPPER_CMD_CLOSE 2|
|#define PLAYER_GRIPPER_CMD_OPEN 1|
|#define PLAYER_GRIPPER_CMD_RETRIEVE 5|
|#define PLAYER_GRIPPER_CMD_STOP 3|
|#define PLAYER_GRIPPER_CMD_STORE 4|
Data: state (PLAYER_GRIPPER_DATA_STATE).
gripper interface returns the current state of the gripper and information on a potential object in the gripper. state may be PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED, PLAYER_GRIPPER_STAGE_MOVING or PLAYER_GRIPPER_STATE_ERROR. beams provides information on how far into the gripper an object is. For most grippers, this will be a bit mask, with each bit representing whether a beam has been interrupted or not.
Request/reply: get geometry.
The geometry (pose, outer size and inner size) of the gripper device can be queried by sending a null PLAYER_GRIPPER_REQ_GET_GEOM request.