Some Force Dimension robots are equipped with a gripper. The topics documentation describes how the Force Dimension node communicates information about the state of the gripper. Also see the parameters documentation pertaining to sample decimation.
A gripper can be used to emulate buttons. See the parameters documentation section pertaining to button emulation for further information.
Interfaces to a number of gripper-related functions provided by the Force Dimension SDK have not yet been implemented:
- Gripper position feedback: dhdGetGripperThumbPos and dhdGetGripperFingerPos;
- Gripper force feedback: dhdGetForceAndTorqueAndGripperForce;
- Gripper velocity feedback: dhdGetGripperAngularVelocityRad;
- Gripper active force commands: dhdSetForceAndGripperForce.