Package intrinsic_proto.gripper
Services
service GenericGripper intrinsic/hardware/gripper/service/proto/generic_gripper.proto
Generic Gripper service independent of the actual gripper. Every gripper, whether a pinch, suction or variable pinch, should implement this service with reasonable defaults. This allows the gripper to be used in a larger set of applictions.
rpc Grasp
Request: intrinsic_proto.gripper.GraspRequest
Response:
intrinsic_proto.gripper.GraspResponse
Trigger grasp command.
rpc Release
Request: intrinsic_proto.gripper.ReleaseRequest
Response:
intrinsic_proto.gripper.ReleaseResponse
Trigger release command.
rpc Command
Request: intrinsic_proto.gripper.CommandRequest
Response:
intrinsic_proto.gripper.CommandResponse
Command the gripper to execute a specific action.
May not be supported by all grippers. For example, DIO suction and pinch
grippers only support Grasp and Release control commands.
rpc GrippingIndicated
Request: intrinsic_proto.gripper.GrippingIndicatedRequest
Response:
intrinsic_proto.gripper.GrippingIndicatedResponse
Check if the gripper is currently gripping an object.
Messages
message CommandRequest intrinsic/hardware/gripper/service/proto/generic_gripper.proto
| Field | Type | Description | |
|---|---|---|---|
|
oneof position_command_options
|
|||
| 1 | position |
double
|
Desired position of grip joint in SI units. |
| 2 | position_percentage |
double
|
Desired position of grip joint in percentage. |
|
oneof velocity_command_options
|
|||
| 3 | velocity |
double
|
Velocity of grip joint in SI units. |
| 4 | velocity_percentage |
double
|
Velocity of grip joint in percentage. |
|
oneof effort_command_options
|
|||
| 5 | effort |
double
|
Desired or maximum applied effort to apply on grip joint in SI units. |
| 6 | effort_percentage |
double
|
Desired or maximum applied effort to apply on grip joint in percentage. |
message CommandResponse intrinsic/hardware/gripper/service/proto/generic_gripper.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | position |
double
|
Current position of the grip joint. |
| 2 | position_reached |
bool
|
Current position matches desired position. |
message GraspRequest intrinsic/hardware/gripper/service/proto/generic_gripper.proto
| Field | Type | Description |
|---|
message GraspResponse intrinsic/hardware/gripper/service/proto/generic_gripper.proto
| Field | Type | Description |
|---|
message GrippingIndicatedRequest intrinsic/hardware/gripper/service/proto/generic_gripper.proto
| Field | Type | Description |
|---|
message GrippingIndicatedResponse intrinsic/hardware/gripper/service/proto/generic_gripper.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | indicated |
bool
|
message PinchGripperCommand intrinsic/hardware/gripper/gripper.proto
| Field | Type | Description | |
|---|---|---|---|
| 4 | command_id |
int64
|
Command id to disambiguate status messages. If not set, the command may return earlier before the gripper has reached the desired position. |
|
oneof position_command_options
|
|||
| 1 | position |
double
|
Desired position of grip joint in SI units. |
| 11 | position_percentage |
double
|
Desired position of grip joint in percentage. |
|
oneof velocity_command_options
|
|||
| 2 | velocity |
double
|
Velocity of grip joint in SI units. |
| 12 | velocity_percentage |
double
|
Velocity of grip joint in percentage. |
|
oneof effort_command_options
|
|||
| 3 | effort |
double
|
Desired or maximum applied effort to apply on grip joint in SI units. |
| 13 | effort_percentage |
double
|
Desired or maximum applied effort to apply on grip joint in percentage. |
message PinchGripperStatus intrinsic/hardware/gripper/gripper.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | position |
double
|
Current position of the grip joint. |
| 2 | in_motion |
bool
|
Grip joint is currently in motion. |
| 3 | position_reached |
bool
|
Current position matches desired position. |
| 4 | gripper_enabled |
bool
|
Whether or not gripper is enabled. |
| 5 | position_requested |
double
|
Requested position. |
| 6 | command_id |
int64
|
(Optional) command id to disambiguate status messages. |
| 7 | object_detected |
bool
|
Whether an object was detected by the gripper. The object detection may not
work correctly for very thin objects. In those cases, an object can be
considered detected if the gripper fingers reached the desired position. In
short, for thin objects the following object detection logic may be more
robust: |
message ReleaseRequest intrinsic/hardware/gripper/service/proto/generic_gripper.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | enable_blowoff |
bool
|
Whether to enable blow-off operation after triggering release. Mainly relevant for suction grippers. Other grippers should ignore this flag, if set, and not raise an error. |
message ReleaseResponse intrinsic/hardware/gripper/service/proto/generic_gripper.proto
| Field | Type | Description |
|---|