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 (const std::string &name)
	[Blocking] Enable the specified gripper as a robot device. More...

void	Disable ()
	[Blocking] Disable the currently enabled gripper. More...

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

void	Grasp (double force)
	[Blocking] Grasp with direct force control. This function requires the enabled gripper to support direct force control. More...

void	Move (double width, double velocity, double force_limit)
	[Blocking] Move the gripper fingers with position control. More...

void	Stop ()
	[Blocking] Stop the gripper and hold its current finger width. More...

GripperParams	params () const
	[Non-blocking] Parameters of the currently enabled gripper. More...

GripperStates	states () const
	[Non-blocking] Current states data of the enabled gripper. 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 ( )

[Blocking] Disable the currently enabled gripper.

Exceptions

std::logic_error	if no gripper is enabled.
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 ( const std::string & name )

[Blocking] Enable the specified gripper as a robot device.

Parameters

[in] name Name of the gripper to enable.

Exceptions

std::invalid_argument	if the specified gripper does not exist.
std::logic_error	if a gripper is already enabled.
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.; There can only be one enabled gripper at a time, call Disable() on the currently enabled gripper before enabling another gripper.

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 ( double force )

[Blocking] Grasp with direct force control. This function requires the enabled gripper to support direct force control.

Parameters

[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.
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 ( )

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

Exceptions

std::logic_error	if no gripper is enabled.
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	(	double	width,
		double	velocity,
		double	force_limit
	)

[Blocking] Move the gripper fingers with position control.

Parameters

[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.
std::runtime_error	if failed to deliver the request to the connected robot.

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

◆ params()

GripperParams flexiv::rdk::Gripper::params ( ) const

[Non-blocking] Parameters of the currently enabled gripper.

Returns: GripperParams value copy.

◆ states()

GripperStates flexiv::rdk::Gripper::states ( ) const

[Non-blocking] Current states data of the enabled gripper.

Returns: GripperStates value copy.

◆ Stop()

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

[Blocking] Stop the gripper and hold its current finger width.

Exceptions

std::logic_error	if no gripper is enabled.
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()