gripper.hpp

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#pragma once
 
#include <cmath>
#include <iostream>
#include <future>
 
#include <franka/exception.h>
#include <franka/gripper.h>
 
 
namespace frankx {
 
class Gripper: public franka::Gripper {
    const double width_calibration {0.004}; // [m], Difference from gripper jaws
    const double min_width {0.002}; // [m]
 
    double last_clamp_width; // [m]
 
public:
    static constexpr double max_speed {0.1}; // [m/s]
 
    explicit Gripper(const std::string& fci_ip, double speed = 0.04, double force = 20.0);
 
    double gripper_force {20.0}; // [N]
    double gripper_speed {0.04}; // [m/s]
    bool has_error {false};
 
    const double max_width {0.081 + width_calibration}; // [m]
 
    double width() const;
    bool isGrasping() const;
 
    bool move(double width); // [m]
    bool move_unsafe(double width); // [m]
    std::future<bool> moveAsync(double width); // [m]
 
    bool open();
    bool clamp();
    bool clamp(double min_clamping_width);
 
    bool release();
    bool release(double width); // [m]
    bool releaseRelative(double width); // [m]
    
    
    ::franka::GripperState get_state();
};
 
} // namepace frankx