12 lines
466 B
Plaintext
12 lines
466 B
Plaintext
# Goal definition
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float64 desired_position # in m
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float64 max_velocity # in m/s
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float64 max_effort # in Newtons
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---
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# Result definition
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float64 final_position # The final gripper gap size (in meters)
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bool stalled # True if the gripper is exerting max effort and not moving
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bool reached_goal # True if the gripper position has reached the commanded setpoint
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---
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# Feedback definition
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float64 current_progress # in % |