specsFinger.xml

<?xml version="1.0"?>
<root
>
  <topic name="specs" type="service" description="main characteristics of the finger gripper" fileName="SpecsFingerGripper">
    <response>
      <property name="min_force" type="float32" unit="newton" description="minimum gripping force">
          <value/>
      </property>
      <property name="max_force" type="float32" unit="newton" description="maximum gripping force">
          <value/>
      </property>
      <property name="max_payload" type="float32" unit="kilogram" description="maximum recommended payload">
          <value/>
      </property>
      <property name="min_speed" type="float32" unit="millimeters per second" description="minimum closing speed, if equal to max_speed the component doesn't have that capability">
          <value/>
      </property>
      <property name="max_speed" type="float32" unit="millimeters per second" description="maximum closing speed, if equal to min_speed the component doesn't have that capability">
          <value/>
      </property>
      <property name="max_acceleration" type="float32" unit="millimeters per second squared" description="maximum acceleration, if 0 the component doesn't have that capability">
          <value/>
      </property>
      <property name="max_length" type="float32" unit="millimeter" description="maximum permitted finger length">
          <value/>
      </property>
      <property name="max_angle" type="float32" unit="radian" description="maximum permitted finger angle">
          <value/>
      </property>
      <property name="repeatability" type="float32" unit="second" description="parallel grip repeatability">
          <value/>
      </property>
    </response>
  </topic>
</root>