Interface to control the gripper installed on the robot. Because gripper is also a type of robot device, this API uses the same underlying infrastructure as rdk::Device, but with functions tailored specifically for gripper controls. More...

#include <gripper.hpp>

Public Member Functions
	Gripper (const Robot &robot)
	[Non-blocking] Instantiate the gripper control interface. More...

void	Enable (JointGroup group, const std::string &name)
	[Blocking] Enable the specified gripper as a device used by the specified joint group. More...

void	Disable (JointGroup group)
	[Blocking] Disable the gripper currently used by the specified joint group. More...

void	Init (JointGroup group)
	[Blocking] Manually trigger the initialization of the enabled gripper used by the specified joint group. This step is not needed for grippers that automatically initialize upon power-on. More...

void	Grasp (JointGroup group, double force)
	[Blocking] Command the gripper used by the specified joint group to grasp with direct force control. This function requires the enabled gripper to support direct force control. More...

void	Move (JointGroup group, double width, double velocity, double force_limit)
	[Blocking] Command the gripper used by the specified joint group to move the fingers with position control. More...

void	Stop (JointGroup group)
	[Blocking] Stop and hold the gripper used by the specified joint group. More...

std::map< JointGroup, GripperParams >	params () const
	[Non-blocking] Parameters of all enabled grippers. More...

std::map< JointGroup, GripperStates >	states () const
	[Non-blocking] Current states data of all enabled grippers. More...

Detailed Description

Interface to control the gripper installed on the robot. Because gripper is also a type of robot device, this API uses the same underlying infrastructure as rdk::Device, but with functions tailored specifically for gripper controls.

Definition at line 76 of file gripper.hpp.

Constructor & Destructor Documentation

◆ Gripper()

flexiv::rdk::Gripper::Gripper ( const Robot & robot )

[Non-blocking] Instantiate the gripper control interface.

Parameters

[in] robot Reference to the instance of flexiv::rdk::Robot.

Exceptions

std::runtime_error if the initialization sequence failed.

Member Function Documentation

◆ Disable()

void flexiv::rdk::Gripper::Disable ( JointGroup group )

[Blocking] Disable the gripper currently used by the specified joint group.

Parameters

[in] group Joint group whose gripper to be disabled.

Exceptions

std::logic_error	if no gripper is enabled for the specified joint group.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

◆ Enable()

void flexiv::rdk::Gripper::Enable	(	JointGroup	group,
		const std::string &	name
	)

[Blocking] Enable the specified gripper as a device used by the specified joint group.

Parameters

[in]	group	Joint group that uses this gripper. Only existing single-arm joint groups like ARM_1 and ARM_2 are accepted.
[in]	name	Name of the gripper to enable.

Exceptions

std::invalid_argument	if [group] is not an existing single-arm joint group in the connected robot, or if the specified gripper does not exist.
std::runtime_error	if failed to deliver the request to the connected robot or failed to sync gripper parameters.

Note: This function blocks until the request is successfully delivered.

Warning: There's no enforced check on whether the enabled device is a gripper or not. Using this function to enable a non-gripper device will likely lead to undefined behaviors.

◆ Grasp()

void flexiv::rdk::Gripper::Grasp	(	JointGroup	group,
		double	force
	)

[Blocking] Command the gripper used by the specified joint group to grasp with direct force control. This function requires the enabled gripper to support direct force control.

Parameters

[in]	group	Joint group whose gripper to send this command to.
[in]	force	Target gripping force. Positive: closing force, negative: opening force. Valid range: [GripperParams::min_force, GripperParams::max_force]. Unit: \( [N] \).

Exceptions

std::invalid_argument	if [force] is outside the valid range.
std::logic_error	if no gripper is enabled for the specified joint group.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

◆ Init()

void flexiv::rdk::Gripper::Init ( JointGroup group )

[Blocking] Manually trigger the initialization of the enabled gripper used by the specified joint group. This step is not needed for grippers that automatically initialize upon power-on.

Parameters

[in] group Joint group whose gripper is to be initialized.

Exceptions

std::logic_error	if no gripper is enabled for the specified joint group.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

Warning: This function does not wait for the initialization sequence to finish, the user may need to implement wait after calling this function before commanding the gripper.

◆ Move()

void flexiv::rdk::Gripper::Move	(	JointGroup	group,
		double	width,
		double	velocity,
		double	force_limit
	)

[Blocking] Command the gripper used by the specified joint group to move the fingers with position control.

Parameters

[in]	group	Joint group whose gripper to send this command to.
[in]	width	Target opening width. Valid range: [GripperParams::min_width, GripperParams::max_width]. Unit: \( [m] \).
[in]	velocity	Closing/opening velocity, cannot be 0. Valid range: [GripperParams::min_vel, GripperParams::max_vel]. Unit: \( [m/s] \).
[in]	force_limit	Maximum contact force during movement. Valid range: [GripperParams::min_force, GripperParams::max_force]. Unit: \( [N] \).

Exceptions

std::invalid_argument	if any input parameter is outside its valid range.
std::logic_error	if no gripper is enabled for the specified joint group.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

◆ params()

std::map<JointGroup, GripperParams> flexiv::rdk::Gripper::params ( ) const

[Non-blocking] Parameters of all enabled grippers.

Returns: Gripper parameters mapped by joint group.

◆ states()

std::map<JointGroup, GripperStates> flexiv::rdk::Gripper::states ( ) const

[Non-blocking] Current states data of all enabled grippers.

Returns: Gripper states data mapped by joint group.

◆ Stop()

void flexiv::rdk::Gripper::Stop ( JointGroup group )

[Blocking] Stop and hold the gripper used by the specified joint group.

Parameters

[in] group Joint group whose gripper to send this command to.

Exceptions

std::logic_error	if no gripper is enabled for the specified joint group.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

The documentation for this class was generated from the following file:

include/flexiv/rdk/gripper.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Gripper()

Member Function Documentation

◆ Disable()

◆ Enable()

◆ Grasp()

◆ Init()

◆ Move()

◆ params()

◆ states()

◆ Stop()