simulo.GripperState

State a gripper actuator REPORTS — what it is currently doing.

Read back with get_state() (one value per instance) after update(dt). This is the observation half of the gripper vocabulary; GripperCommand is the intent half. They are deliberately two enums, not one — see the warning below.

State Interface:

• OPEN (-1): Not grasping.
• CLOSING (0): Commanded closed, the grasp has not completed.
• CLOSED (1): Grasping.

Example:

gripper.update(dt)
if gripper.get_state()[0] is simulo.GripperState.CLOSED:
    ...  # the grasp landed

Warning: GripperState.CLOSING and GripperCommand.IDLE are both the integer 0, and they mean different things. A 0 you read out of get_state() (or out of a log line, or an MCAP channel) is a state: the gripper is mid-close. A 0 you pass into set_command() is an intent: hold whatever you are already doing. The two enums exist precisely so the two zeros never have to be told apart by eye — repr() prints GripperState.CLOSING vs. GripperCommand.IDLE, so name them in logs (f"{state!r}") rather than printing state.value.

Collapsing them into one enum would force one of the two zeros to change value, and both are load-bearing: -1/0/1 is the state the engine reports for a surface gripper, and -1/0/1 is what falls in the natural open/idle/close bands of the float command channel.

class GripperState(IntEnum)

Member	Value	Meaning
OPEN	-1
CLOSING	0
CLOSED	1

---

Note

OPEN (-1) — not grasping. CLOSING (0) — commanded closed, the grasp has not completed. CLOSED (1) — grasping. get_state() returns one value per gripper instance; is_open() / is_closed() check a single instance against these values.

Watch the two zeroes. GripperState.CLOSING is 0 and GripperCommand.IDLE is also 0, with different meanings — a 0 you read is a state, a 0 you pass is an intent. That asymmetry is exactly why these are two enums rather than one; print repr(state) in logs so the two are never confused by eye.