Struct EndEffectorProperties

• Defined in File trossen_arm.hpp

Struct Documentation

struct EndEffectorProperties

End effector properties.

Public Members

LinkProperties palm

Properties of the palm link.

LinkProperties finger_left

Properties of the left finger link.

LinkProperties finger_right

Properties of the right finger link.

float offset_finger_left

Offset from the palm center to the left carriage center in m in home configuration.

float offset_finger_right

Offset from the palm center to the right carriage center in m in home configuration.

float t_max_factor

Scaling factor for the max gripper force.

Note

It must be within [0.0, 1.0], 0.0 for no force, 1.0 for max force in the specifications