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gripper [Interfaces] Detailed Description The gripper interface provides access to a robotic gripper. This interface is VERY Pioneer-specific, and should really be generalized. Classes struct   player_gripper_data   Data. More... struct   player_gripper_cmd   Command. More... Typedefs typedef player_gripper_data  player_gripper_data_t   Data. typedef player_gripper_cmd  player_gripper_cmd_t   Command. Typedef Documentation typedef struct player_gripper_data player_gripper_data_t   Data. The gripper interface returns 2 bytes that represent the current state of the gripper; the format is given below. Note that the exact interpretation of this data may vary depending on the details of your gripper and how it is connected to your robot (e.g., General I/O vs. User I/O for the Pioneer gripper). The following list defines how the data can be interpreted for some Pioneer robots and Stage: state (unsigned byte) bit 0: Paddles open bit 1: Paddles closed bit 2: Paddles moving bit 3: Paddles error bit 4: Lift is up bit 5: Lift is down bit 6: Lift is moving bit 7: Lift error beams (unsigned byte) bit 0: Gripper limit reached bit 1: Lift limit reached bit 2: Outer beam obstructed bit 3: Inner beam obstructed bit 4: Left paddle open bit 5: Right paddle open typedef struct player_gripper_cmd player_gripper_cmd_t   Command. The gripper interface accepts 2-byte commands, the format of which is given below. These two bytes are sent directly to the gripper; refer to Table 3-3 page 10 in the Pioneer 2 Gripper Manual for a list of commands. The first byte is the command. The second is the argument for the LIFTcarry and GRIPpress commands, but for all others it is ignored.