C、C++:
End-Effector Basic Information `rm_plus_base_info_t`

Class member variable description

Manufacturer manu
C++
```
char rm_plus_base_info_t::manu[10]
```
Device Type type
1: Two-finger gripper, 2: Five-finger dexterous hand, 3: Three-finger gripper.
C++
```
int rm_plus_base_info_t::type
```
Hardware Version hv
C++
```
char rm_plus_base_info_t::hv[10]
```
Software Version sv
C++
```
char rm_plus_base_info_t::sv[10]
```
Boot Version bv
C++
```
char rm_plus_base_info_t::bv[10]
```
Device ID id
C++
```
int rm_plus_base_info_t::id
```
Degrees of Freedom dof
C++
```
int rm_plus_base_info_t::dof
```
Self-Check Switch check
C++
```
int rm_plus_base_info_t::check
```
Beeper Switch bee
C++
```
int rm_plus_base_info_t::bee
```
Force Control Support force
C++
```
bool rm_plus_base_info_t::force
```
Tactile Support touch
C++
```
bool rm_plus_base_info_t::touch
```
Number of Tactile Sensors touch_num
C++
```
int rm_plus_base_info_t::touch_num
```
Tactile Sensor Switch touch_sw
C++
```
int rm_plus_base_info_t::touch_sw
```
Hand Orientation hand
1: Left hand, 2: Right hand.
C++
```
int rm_plus_base_info_t::hand
```
Position Upper Limit pos_up
Unit: Dimensionless.
C++
```
int rm_plus_base_info_t::pos_up[12]
```
Position Lower Limit pos_low
Unit: Dimensionless.
C++
```
int rm_plus_base_info_t::pos_low[12]
```
Angle Upper Limit angle_up
Unit: 0.01 degrees.
C++
```
int rm_plus_base_info_t::angle_up[12]
```
Angle Lower Limit angle_low
Unit: 0.01 degrees.
C++
```
int rm_plus_base_info_t::angle_low[12]
```
Speed Upper Limit speed_up
Unit: Dimensionless.
C++
```
int rm_plus_base_info_t::speed_up[12]
```
Speed Lower Limit speed_low
Unit: Dimensionless.
C++
```
int rm_plus_base_info_t::speed_low[12]
```
Force Upper Limit force_up
Unit: 0.001 N.
C++
```
int rm_plus_base_info_t::force_up[12]
```
Force Lower Limit force_low
Unit: 0.001 N.
C++
```
int rm_plus_base_info_t::force_low[12]
```