Access MotorFeedback of Gripper

[quajak]

Description

We would like to access the MotorFeedback from the GripperCyclic client to extract the current consumed by the gripper motor.

Version

KortexAPI : 2.6.0

Kortex Device : Kinova Gen3 with Robotiq 2F-85 gripper.

Steps to reproduce

1. based on the gripper low level command script, we initialize a GripperCyclicClient with either TCP or UDP.
2. We created a gripper_msg = GripperCyclicMessage_pb2.MotorFeedback() message.
3. We called gripper_client.RefreshFeedback(gripper_msg, device_id), trying different device_id from (0, 9).
4. The following error message is returned: *** kortex_api.Exceptions.KServerException.KServerException: Server error name=ERROR_PROTOCOL_SERVER, sub name=UNSUPPORTED_SERVICE => Service not registered for service id: 17

Questions

What is the correct way to access the gripper motor current.

[martinleroux]

Hi @quajak ,

As far as I can tell, this should work. Can you send me your exact implementation?
Make sure you are using UDP Transport.