11#pragma once
22
3- #include < cmath>
4- #include < iostream>
53#include < future>
64
75#include < franka/exception.h>
@@ -16,85 +14,94 @@ struct GripperException : public std::runtime_error {
1614 using std::runtime_error::runtime_error;
1715};
1816
17+ /* *
18+ * @brief A wrapper around the franka::Gripper class that adds asynchronous functionality.
19+ */
1920class Gripper : public franka ::Gripper {
2021 public:
21- // Maximum speed of the gripper [m/s]
22- static constexpr double max_speed{0.1 };
23-
24- /* *
25- * @param fci_hostname The hostname of the Franka robot.
26- * @param speed The speed of the gripper. Default is 0.04.
27- * @param force The force of the gripper. Default is 20.0.
28- */
29- explicit Gripper (const std::string &fci_hostname, double speed = 0.04 , double force = 20.0 );
30-
31- // Force of the gripper [N]
32- double gripper_force{20.0 };
33-
34- // Speed of the gripper [m/s]
35- double gripper_speed{0.04 };
22+ explicit Gripper (const std::string &franka_address) : franka::Gripper(franka_address) {}
3623
37- // Flag to indicate if the gripper has an error
38- bool has_error{false };
24+ Gripper (Gripper &&gripper) noexcept : franka::Gripper(std::move(gripper)) {}
3925
40- // Maximum width of the gripper [m]
41- const double max_width{0.081 + width_calibration};
42-
43- /*
44- * @brief Get the current width of the gripper.
26+ /* *
27+ * @brief Asynchronous variant of the franka::Gripper::grasp function.
28+ *
29+ * @param width Size of the object to grasp in [m].
30+ * @param speed Closing speed in [m/s].
31+ * @param force Grasping force in [N].
32+ * @param epsilon_inner Maximum tolerated deviation when the actual grasped width is smaller than the commanded grasp
33+ * width.
34+ * @param epsilon_outer Maximum tolerated deviation when the actual grasped width is larger than the commanded grasp
35+ * width.
36+ * @return Future that becomes ready when the grasp is finished. Contains true if an object has been grasped, false
37+ * otherwise.
4538 */
46- [[nodiscard]] double width () const ;
39+ std::future<bool > graspAsync (
40+ double width, double speed, double force, double epsilon_inner = 0.005 , double epsilon_outer = 0.005 ) const ;
4741
48- /*
49- * @brief Check if the gripper is grasping.
42+ /* *
43+ * @brief Asynchronous variant of the franka::Gripper::move function.
44+ * @param width Intended opening width in [m].
45+ * @param speed Speed of the movement in [m/s].
46+ * @return Future that becomes ready when the movement is finished. Contains true if the movement was successful,
5047 */
51- [[nodiscard]] bool isGrasping ( ) const ;
48+ std::future< bool > moveAsync ( double width, double speed ) const ;
5249
53- /*
54- * @brief Move the gripper to the given width.
55- *
56- * @param width The width to move to [m]
57- * @return True if the gripper moved successfully.
50+ /* *
51+ * @brief Opens the gripper fully.
52+ * @param speed Speed of the movement in [m/s].
53+ * @return True if the gripper was opened successfully.
5854 */
59- bool move (double width );
55+ bool open (double speed );
6056
61- /*
62- * @brief Move the gripper to the given width without checking the current width .
63- *
64- * @param width The width to move to [m]
65- * @return True if the gripper moved successfully.
57+ /* *
58+ * @brief Asynchronous variant of the open function .
59+ * @param speed Speed of the movement in [m/s].
60+ * @return Future that becomes ready when the gripper is fully opened. Contains true if the gripper was opened
61+ * successfully.
6662 */
67- bool moveUnsafe (double width );
63+ std::future< bool > openAsync (double speed );
6864
69- /*
70- * @brief Move the gripper to the given width asynchronously.
71- *
72- * @param width The width to move to [m]
73- * @return A future that will be set to true if the gripper moved successfully.
65+ /* *
66+ * @brief Asynchronous variant of the franka::Gripper::homing function.
67+ * @return A future that becomes ready when the homing is finished. Contains true if the homing was successful.
7468 */
75- std::future<bool > moveAsync ( double width );
69+ std::future<bool > homingAsync ( );
7670
77- bool open ();
78- bool clamp ();
79- bool clamp (double min_clamping_width);
71+ /* *
72+ * @brief Asynchronous variant of the franka::Gripper::stop function.
73+ * @return A future that becomes ready when the stop is finished. Contains true if the stop was successful.
74+ */
75+ std::future<bool > stopAsync ();
8076
81- bool release ();
82- bool release (double width); // [m]
83- bool releaseRelative (double width); // [m]
77+ /* *
78+ * @brief Current opening width of the gripper [m]
79+ */
80+ [[nodiscard]] inline double width () const {
81+ return state ().width ;
82+ }
8483
85- ::franka::GripperState get_state ();
84+ /* *
85+ * @brief Whether the gripper is grasping
86+ */
87+ [[nodiscard]] inline bool is_grasped () const {
88+ return state ().is_grasped ;
89+ }
8690
87- private:
88- // Difference from gripper jaws [m
89- const double width_calibration{0.004 };
90- // Minimum width of the gripper [m]
91- const double min_width{0.002 };
91+ /* *
92+ * @brief Maximum width of the gripper [m]
93+ */
94+ [[nodiscard]] inline double max_width () const {
95+ return state ().max_width ;
96+ }
9297
9398 /* *
94- * Save clamp width and compare it in the is_grasping method. If it's smaller,
95- * the gripper moves and the object is missing. [m]
96- */
97- double last_clamp_width{};
99+ * @brief Current gripper state.
100+ */
101+ [[nodiscard]] inline franka::GripperState state () const {
102+ return readOnce ();
103+ }
104+
98105};
99106
100- } // namepace franky
107+ } // namespace franky
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