Package intrinsic_proto.eoat
Services
service PinchGripper intrinsic/hardware/gripper/eoat/eoat_service.proto
Pinch Gripper service
Trigger grasp by closing the fingers
rpc Release
Request: intrinsic_proto.eoat.ReleaseRequest
Response:
intrinsic_proto.eoat.ReleaseResponse
Trigger release by opening the fingers
rpc GrippingIndicated
Request: intrinsic_proto.eoat.GrippingIndicatedRequest
Response:
intrinsic_proto.eoat.GrippingIndicatedResponse
Check if grasp was successful
service SuctionGripper intrinsic/hardware/gripper/eoat/eoat_service.proto
Suction Gripper service
Trigger grasp by turning the suction on
rpc Release
Request: intrinsic_proto.eoat.ReleaseRequest
Response:
intrinsic_proto.eoat.ReleaseResponse
Trigger release by turning the suction off
rpc BlowOff
Request: intrinsic_proto.eoat.BlowOffRequest
Response:
intrinsic_proto.eoat.BlowOffResponse
Trigger suction blow off by turning it on or off
rpc GrippingIndicated
Request: intrinsic_proto.eoat.GrippingIndicatedRequest
Response:
intrinsic_proto.eoat.GrippingIndicatedResponse
Check if grasp was successful
Messages
message BlowOffRequest intrinsic/hardware/gripper/eoat/eoat_service.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | turn_on |
bool
|
Whether to turn on blow off or turn it off |
message GpioServiceConfig intrinsic/hardware/gripper/eoat/eoat_service.proto
| Field | Type | Description | |
|---|---|---|---|
|
oneof srv
|
|||
| 1 | endpoint |
intrinsic_proto.eoat.GpioServiceEndpoint
|
Simply connect to an already configured gpio service endpoint. |
| 2 | config |
google.protobuf.Any
|
Bring up the GPIO service (e.g. opuca) that would communicate with the gripper driver and configure it. The gripper service would then communicate with this GPIO service. |
message GpioServiceEndpoint intrinsic/hardware/gripper/eoat/eoat_service.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | grpc_address |
string
|
Generally, this is the ingress service |
| 2 | gpio_service_name |
string
|
Name of the gpio service to connect to (e.g. as named in the build rule) |
message GripperConfig intrinsic/hardware/gripper/eoat/eoat_service.proto
Congfigurations for specific grippers should be added here
| Field | Type | Description | |
|---|---|---|---|
| 3 | gpio_service |
intrinsic_proto.eoat.GpioServiceConfig
|
|
|
oneof gripper_config
|
|||
| 1 | pinch |
intrinsic_proto.eoat.PinchGripperConfig
|
|
| 2 | suction |
intrinsic_proto.eoat.SuctionGripperConfig
|
|
message GrippingIndicatedRequest intrinsic/hardware/gripper/eoat/eoat_service.proto
| Field | Type | Description |
|---|
message GrippingIndicatedResponse intrinsic/hardware/gripper/eoat/eoat_service.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | indicated |
bool
|
|
message PinchGripperConfig intrinsic/hardware/gripper/eoat/gripper_config.proto
| Field | Type | Description | |
|---|---|---|---|
| 2 | grasp |
intrinsic_proto.eoat.SignalConfig
|
|
| 3 | release |
intrinsic_proto.eoat.SignalConfig
|
|
| 4 | gripping_indicated |
intrinsic_proto.eoat.SignalConfig
|
|
| 5 | is_default_closed |
bool
|
Whether the gripper is closed at joint positions 0. Set it to false (default) if the gripper is open at joint positions 0. This parameter is used to correctly update the digital twin when the gripper is commanded to grasp or release. |
message SignalConfig intrinsic/hardware/gripper/eoat/gripper_config.proto
| Field | Type | Description | |
|---|---|---|---|
|
oneof type
|
|||
| 1 | value_set |
intrinsic_proto.gpio.v1.SignalValueSet
|
Map of signal names to bool values. E.g. {"/signal/name", true}. For actuation (e.g. grasp, release, etc.), the bool values are written to the port address. For sensing (e.g. gripping_indicated), the bool values are matched against the current values. |
message SuctionGripperConfig intrinsic/hardware/gripper/eoat/gripper_config.proto
| Field | Type | Description | |
|---|---|---|---|
| 2 | grasp |
intrinsic_proto.eoat.SignalConfig
|
|
| 3 | release |
intrinsic_proto.eoat.SignalConfig
|
|
| 4 | blowoff_on |
intrinsic_proto.eoat.SignalConfig
|
Turn on blow off |
| 5 | gripping_indicated |
intrinsic_proto.eoat.SignalConfig
|
|
| 6 | blowoff_off |
intrinsic_proto.eoat.SignalConfig
|
Turn off blow off |