From b9b13887e31400e0a0fa1ffbd8a3a885ff2066c2 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Wed, 8 Nov 2023 18:53:09 +0100
Subject: [PATCH] some progress

---
 clik/clik.py                                  |   11 +-
 dmp/foo.csv                                   |   50 -
 .../drawing_gen/.cliking_the_path.py.swp      |  Bin 16384 -> 16384 bytes
 dmp/my_sol/drawing_gen/cliking_the_path.py    |   30 +-
 dmp/my_sol/drawing_gen/path_in_pixels.csv     |  395 +++--
 dmp/my_sol/new_traj.csv                       | 1385 ++++++++---------
 dmp/my_sol/run_dmp.py                         |    3 +
 ...ve_me_the_calibrated_model.cpython-310.pyc |  Bin 1762 -> 1595 bytes
 .../robotiq_gripper.cpython-310.pyc           |  Bin 0 -> 12223 bytes
 util/calib_board_hacks.py                     |   70 +
 util/freedrive.py                             |    2 +-
 util/give_me_the_calibrated_model.py          |    6 +-
 util/measuring_stick.py                       |    7 +-
 util/open_close_gripper.py                    |   25 +
 util/robotiq_gripper.py                       |  291 ++++
 15 files changed, 1236 insertions(+), 1039 deletions(-)
 delete mode 100644 dmp/foo.csv
 rename robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp => dmp/my_sol/drawing_gen/.cliking_the_path.py.swp (54%)
 create mode 100644 util/__pycache__/robotiq_gripper.cpython-310.pyc
 create mode 100644 util/calib_board_hacks.py
 create mode 100644 util/open_close_gripper.py
 create mode 100644 util/robotiq_gripper.py

diff --git a/clik/clik.py b/clik/clik.py
index a65e873..38a3b7e 100644
--- a/clik/clik.py
+++ b/clik/clik.py
@@ -13,8 +13,8 @@ from robotiq_gripper import RobotiqGripper
 import os
 import copy
 import signal
-sys.path.insert(0, '..')
-from util.give_me_the_calibrated_model import get_model
+sys.path.insert(0, '../util')
+from give_me_the_calibrated_model import get_model
 
 #SIMULATION = True
 SIMULATION = False
@@ -28,7 +28,11 @@ PINOCCHIO_ONLY = False
 #time.sleep(3)
 
 # load model
-model, data = get_model()
+urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
+urdf_path_absolute = os.path.abspath(urdf_path_relative)
+mesh_dir = "../robot_descriptions/"
+mesh_dir_absolute = os.path.abspath(mesh_dir)
+model, data = get_model(urdf_path_absolute, mesh_dir_absolute)
 
 
 #load gripper
@@ -80,7 +84,6 @@ rtde_io.setSpeedSlider(0.5)
 def handler(signum, frame):
     print('sending 100 speedjs full of zeros')
     for i in range(100):
-        rtde_control.endFreedriveMode()
         vel_cmd = np.zeros(6)
         rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
     exit()
diff --git a/dmp/foo.csv b/dmp/foo.csv
deleted file mode 100644
index 68f7d86..0000000
--- a/dmp/foo.csv
+++ /dev/null
@@ -1,50 +0,0 @@
-0.00000,1.00000
-2.00000,3.00000
-4.00000,5.00000
-6.00000,7.00000
-8.00000,9.00000
-10.00000,11.00000
-12.00000,13.00000
-14.00000,15.00000
-16.00000,17.00000
-18.00000,19.00000
-20.00000,21.00000
-22.00000,23.00000
-24.00000,25.00000
-26.00000,27.00000
-28.00000,29.00000
-30.00000,31.00000
-32.00000,33.00000
-34.00000,35.00000
-36.00000,37.00000
-38.00000,39.00000
-40.00000,41.00000
-42.00000,43.00000
-44.00000,45.00000
-46.00000,47.00000
-48.00000,49.00000
-50.00000,51.00000
-52.00000,53.00000
-54.00000,55.00000
-56.00000,57.00000
-58.00000,59.00000
-60.00000,61.00000
-62.00000,63.00000
-64.00000,65.00000
-66.00000,67.00000
-68.00000,69.00000
-70.00000,71.00000
-72.00000,73.00000
-74.00000,75.00000
-76.00000,77.00000
-78.00000,79.00000
-80.00000,81.00000
-82.00000,83.00000
-84.00000,85.00000
-86.00000,87.00000
-88.00000,89.00000
-90.00000,91.00000
-92.00000,93.00000
-94.00000,95.00000
-96.00000,97.00000
-98.00000,99.00000
diff --git a/robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp b/dmp/my_sol/drawing_gen/.cliking_the_path.py.swp
similarity index 54%
rename from robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp
rename to dmp/my_sol/drawing_gen/.cliking_the_path.py.swp
index f33e1a0306813ae235e268262a78a9b00cf5d18f..91a1cc83f368525db2eda4a078dfcff29c37c7ba 100644
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diff --git a/dmp/my_sol/drawing_gen/cliking_the_path.py b/dmp/my_sol/drawing_gen/cliking_the_path.py
index 412f215..a4ea3b6 100644
--- a/dmp/my_sol/drawing_gen/cliking_the_path.py
+++ b/dmp/my_sol/drawing_gen/cliking_the_path.py
@@ -3,15 +3,15 @@
 # this files results in a timed joint path
 
 # STEP 1: map the pixels to a 3D plane
-
 # STEP 2: clik that path
-
 # STEP 3: put result into csv (but also save it in a convenient class/array here)
 
-
 import numpy as np
 import pinocchio as pin
 import os
+import sys
+sys.path.insert(0, '../../../util')
+from give_me_the_calibrated_model import get_model
 
 #######################################################################
 #                STEP 1: map the pixels to a 3D plane                 #
@@ -50,11 +50,13 @@ path[:,1] = path[:,1] * board_height
 # TODO write some algorithm to do this automatically, this is asinine
 # (in pin coordinates, real ones are [-x, -y, z])
 # UPPER LEFT POINT 
-R = np.array([[ -0.999451,  -0.0284345,   0.0169942],
-              [ -0.0330578,    0.889025,   -0.456663],
-              [ -0.00212333,   -0.456974,   -0.889477]])
+#  0.1065, 0.7083, 0.6362, -2.6137, -0.0248, -0.0033
+rpy = np.array([-2.6137, -0.0248, -0.0033])
+R = pin.rpy.rpyToMatrix(rpy)
+print(R)
+#R = np.eye(3)
 # change +/- stuff if you go the other way idk or c lmao
-p = np.array([-0.113205,  -0.71668,  0.638377])
+p = np.array([0.1065, 0.7083, 0.6362])
 transf_body_to_board = pin.SE3(R, p)
 
 # LOWER LEFT POINT
@@ -73,7 +75,7 @@ transf_body_to_board = pin.SE3(R, p)
 #0.00980125   0.816329  -0.577504
 # 0.0382838  -0.577415  -0.815553
 #  p = -0.595579 -0.373942  0.413703
-path = path + np.array([0.0, 0.0, -0.1])
+path = path + np.array([0.0, 0.0, -0.0838])
 for i in range(len(path)):
     path[i] = transf_body_to_board.act(path[i])
 #print(path)
@@ -84,27 +86,26 @@ for i in range(len(path)):
 #                      STEP 2: clik that path                         #
 #######################################################################
 
-
 urdf_path_relative = "../../../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
 urdf_path_absolute = os.path.abspath(urdf_path_relative)
 mesh_dir = "../../../robot_descriptions/"
 mesh_dir_absolute = os.path.abspath(mesh_dir)
-model = pin.buildModelFromUrdf(urdf_path_absolute)
-data = pin.Data(model)
-#print(model)
 
+model, data = get_model(urdf_path_absolute, mesh_dir_absolute)
 # clik it
 JOINT_ID = 6
 eps = 10**-2
 dt = 0.01
 # skip inital pos tho
-q = np.array([-2.035, -1.371,  1.146, -2.071, -1.376,  0.048, 0.0, 0.0])
+q = np.array([-2.256,-1.408,0.955,-1.721,-1.405,-0.31, 0.0, 0.0])
 INIT_ITER = 10000
 n_iter = INIT_ITER
 RUNNING_ITER = 1000
 qs = []
 for goal in path:
-    Mgoal = pin.SE3(np.zeros((3,3)), goal)
+    # there's no orientation error (you do need it lmao)
+    #Mgoal = pin.SE3(np.zeros((3,3)), goal)
+    Mgoal = pin.SE3(R, goal)
     for i in range(n_iter):
         pin.forwardKinematics(model, data, q)
         SEerror = data.oMi[JOINT_ID].actInv(Mgoal)
@@ -115,6 +116,7 @@ for goal in path:
                 break
         J = pin.computeJointJacobian(model, data, q, JOINT_ID)
         v = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * 10**-2) @ err_vector
+        #v = J.T @ err_vector
         q = pin.integrate(model, q, v * dt)
         if (not n_iter == INIT_ITER) and (i % 10 == 0):
             qs.append(q[:6])
diff --git a/dmp/my_sol/drawing_gen/path_in_pixels.csv b/dmp/my_sol/drawing_gen/path_in_pixels.csv
index 0eea0a0..c04a7f1 100644
--- a/dmp/my_sol/drawing_gen/path_in_pixels.csv
+++ b/dmp/my_sol/drawing_gen/path_in_pixels.csv
@@ -1,221 +1,174 @@
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diff --git a/dmp/my_sol/new_traj.csv b/dmp/my_sol/new_traj.csv
index 893c562..2906feb 100644
--- a/dmp/my_sol/new_traj.csv
+++ b/dmp/my_sol/new_traj.csv
@@ -1,742 +1,643 @@
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diff --git a/dmp/my_sol/run_dmp.py b/dmp/my_sol/run_dmp.py
index 1437367..2f97fd7 100644
--- a/dmp/my_sol/run_dmp.py
+++ b/dmp/my_sol/run_dmp.py
@@ -1,6 +1,7 @@
 from create_dmp import DMP
 from rtde_control import RTDEControlInterface as RTDEControl
 from rtde_receive import RTDEReceiveInterface as RTDEReceive
+from rtde_io import RTDEIOInterface
 from robotiq_gripper import RobotiqGripper
 from temporal_coupling import NoTC, TCVelAccConstrained
 import pinocchio as pin
@@ -27,6 +28,8 @@ import matplotlib.pyplot as plt
 
 rtde_control = RTDEControl("192.168.1.102")
 rtde_receive = RTDEReceive("192.168.1.102")
+rtde_io = RTDEIOInterface("192.168.1.102")
+rtde_io.setSpeedSlider(0.7)
 
 # run if marker isn't gripped
 #gripper = RobotiqGripper()
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diff --git a/util/calib_board_hacks.py b/util/calib_board_hacks.py
new file mode 100644
index 0000000..0c4f30e
--- /dev/null
+++ b/util/calib_board_hacks.py
@@ -0,0 +1,70 @@
+import pinocchio as pin
+import numpy as np
+import sys
+import os
+from os.path import dirname, join, abspath
+import time
+from pinocchio.visualize import GepettoVisualizer
+import gepetto.corbaserver
+from rtde_control import RTDEControlInterface as RTDEControl
+from rtde_receive import RTDEReceiveInterface as RTDEReceive
+import os
+import copy
+import signal
+from give_me_the_calibrated_model import get_model
+
+def handler(signum, frame):
+    print('sending 100 speedjs full of zeros')
+    for i in range(100):
+        vel_cmd = np.zeros(6)
+        rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
+    exit()
+
+
+rtde_control = RTDEControl("192.168.1.102")
+rtde_receive = RTDEReceive("192.168.1.102")
+while not rtde_control.isConnected():
+    continue
+print("connected")
+
+signal.signal(signal.SIGINT, handler)
+
+urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
+urdf_path_absolute = os.path.abspath(urdf_path_relative)
+mesh_dir = "../robot_descriptions/"
+mesh_dir_absolute = os.path.abspath(mesh_dir)
+model, data = get_model(urdf_path_absolute, mesh_dir_absolute)
+
+init_pose = rtde_receive.getActualTCPPose()
+new_pose = copy.deepcopy(init_pose)
+# dangerous
+#new_pose[3] = 0
+#new_pose[4] = 0
+#new_pose[5] = 0
+#rtde_control.moveL(new_pose)
+#exit()
+
+# TODO change this, i just shoved the pen through the board
+speed = [0, 0, -0.05, 0, 0, 0]
+for i in range(3):
+    rtde_control.moveUntilContact(speed)
+    print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4))
+    init_pose = rtde_receive.getActualTCPPose()
+    new_pose = copy.deepcopy(init_pose)
+    new_pose[2] -= 0.1
+    rtde_control.moveL(new_pose)
+    new_pose[1] += 0.1
+    rtde_control.moveL(new_pose)
+
+exit()
+
+while True:
+    q = rtde_receive.getActualQ()
+    q.append(0.0)
+    q.append(0.0)
+    pin.forwardKinematics(model, data, np.array(q))
+    print("pin:", *data.oMi[6].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
+    print("pin:", *data.oMi[7].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
+    print("pin:", *data.oMi[8].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
+    print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4))
+    time.sleep(0.005)
diff --git a/util/freedrive.py b/util/freedrive.py
index 53cc81d..e2f1b8c 100644
--- a/util/freedrive.py
+++ b/util/freedrive.py
@@ -24,5 +24,5 @@ signal.signal(signal.SIGINT, handler)
 while True:
     q = rtde_receive.getActualQ()
     q = np.array(q)
-    print(q.round(3))
+    print(*q.round(3), sep=', ')
     time.sleep(0.005)
diff --git a/util/give_me_the_calibrated_model.py b/util/give_me_the_calibrated_model.py
index 26c947e..f5ea332 100644
--- a/util/give_me_the_calibrated_model.py
+++ b/util/give_me_the_calibrated_model.py
@@ -13,7 +13,7 @@ from os.path import dirname, join, abspath
 #viz.initViewer()
 #viz.loadViewerModel()
 
-def get_model():
+def get_model(urdf_path_absolute, mesh_dir_absolute):
 
     shoulder_trans = np.array([0, 0, 0.1625134425523304])
     shoulder_rpy = np.array([-0, 0, 5.315711138647629e-08])
@@ -39,10 +39,6 @@ def get_model():
     wrist_3_rpy = np.array([1.572215514545703, 3.141592653589793, 3.141592633687631])
     wrist_3_se3 = pin.SE3(pin.rpy.rpyToMatrix(wrist_3_rpy),wrist_3_trans)
 
-    urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
-    urdf_path_absolute = os.path.abspath(urdf_path_relative)
-    mesh_dir = "../robot_descriptions/"
-    mesh_dir_absolute = os.path.abspath(mesh_dir)
     model = pin.buildModelFromUrdf(urdf_path_absolute)
     model.jointPlacements[1] = shoulder_se3
     model.jointPlacements[2] = upper_arm_se3
diff --git a/util/measuring_stick.py b/util/measuring_stick.py
index 5bedd2c..83737cf 100644
--- a/util/measuring_stick.py
+++ b/util/measuring_stick.py
@@ -28,8 +28,11 @@ print("connected")
 rtde_control.freedriveMode()
 signal.signal(signal.SIGINT, handler)
 
-
-model, data = get_model()
+urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
+urdf_path_absolute = os.path.abspath(urdf_path_relative)
+mesh_dir = "../robot_descriptions/"
+mesh_dir_absolute = os.path.abspath(mesh_dir)
+model, data = get_model(urdf_path_absolute, mesh_dir_absolute)
 
 while True:
     q = rtde_receive.getActualQ()
diff --git a/util/open_close_gripper.py b/util/open_close_gripper.py
new file mode 100644
index 0000000..023b319
--- /dev/null
+++ b/util/open_close_gripper.py
@@ -0,0 +1,25 @@
+from rtde_control import RTDEControlInterface as RTDEControl
+from rtde_receive import RTDEReceiveInterface as RTDEReceive
+from rtde_io import RTDEIOInterface
+from robotiq_gripper import RobotiqGripper
+import pinocchio as pin
+import numpy as np
+import os
+import time
+import signal
+import matplotlib.pyplot as plt
+
+
+def handler(signum, frame):
+    gripper.move(255,100,100)
+    time.sleep(3)
+    exit()
+
+signal.signal(signal.SIGINT, handler)
+
+gripper = RobotiqGripper()
+gripper.connect("192.168.1.102", 63352)
+gripper.activate()
+time.sleep(3)
+gripper.move(0,100,100)
+time.sleep(300)
diff --git a/util/robotiq_gripper.py b/util/robotiq_gripper.py
new file mode 100644
index 0000000..a17ab18
--- /dev/null
+++ b/util/robotiq_gripper.py
@@ -0,0 +1,291 @@
+"""Module to control Robotiq's grippers - tested with HAND-E"""
+
+import socket
+import threading
+import time
+from enum import Enum
+from typing import Union, Tuple, OrderedDict
+
+class RobotiqGripper:
+    """
+    Communicates with the gripper directly, via socket with string commands, leveraging string names for variables.
+    """
+    # WRITE VARIABLES (CAN ALSO READ)
+    ACT = 'ACT'  # act : activate (1 while activated, can be reset to clear fault status)
+    GTO = 'GTO'  # gto : go to (will perform go to with the actions set in pos, for, spe)
+    ATR = 'ATR'  # atr : auto-release (emergency slow move)
+    ADR = 'ADR'  # adr : auto-release direction (open(1) or close(0) during auto-release)
+    FOR = 'FOR'  # for : force (0-255)
+    SPE = 'SPE'  # spe : speed (0-255)
+    POS = 'POS'  # pos : position (0-255), 0 = open
+    # READ VARIABLES
+    STA = 'STA'  # status (0 = is reset, 1 = activating, 3 = active)
+    PRE = 'PRE'  # position request (echo of last commanded position)
+    OBJ = 'OBJ'  # object detection (0 = moving, 1 = outer grip, 2 = inner grip, 3 = no object at rest)
+    FLT = 'FLT'  # fault (0=ok, see manual for errors if not zero)
+
+    ENCODING = 'UTF-8'  # ASCII and UTF-8 both seem to work
+
+    class GripperStatus(Enum):
+        """Gripper status reported by the gripper. The integer values have to match what the gripper sends."""
+        RESET = 0
+        ACTIVATING = 1
+        # UNUSED = 2  # This value is currently not used by the gripper firmware
+        ACTIVE = 3
+
+    class ObjectStatus(Enum):
+        """Object status reported by the gripper. The integer values have to match what the gripper sends."""
+        MOVING = 0
+        STOPPED_OUTER_OBJECT = 1
+        STOPPED_INNER_OBJECT = 2
+        AT_DEST = 3
+
+    def __init__(self):
+        """Constructor."""
+        self.socket = None
+        self.command_lock = threading.Lock()
+        self._min_position = 0
+        self._max_position = 255
+        self._min_speed = 0
+        self._max_speed = 255
+        self._min_force = 0
+        self._max_force = 255
+
+    def connect(self, hostname: str, port: int, socket_timeout: float = 2.0) -> None:
+        """Connects to a gripper at the given address.
+        :param hostname: Hostname or ip.
+        :param port: Port.
+        :param socket_timeout: Timeout for blocking socket operations.
+        """
+        self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.socket.connect((hostname, port))
+        self.socket.settimeout(socket_timeout)
+
+    def disconnect(self) -> None:
+        """Closes the connection with the gripper."""
+        self.socket.close()
+
+    def _set_vars(self, var_dict: OrderedDict[str, Union[int, float]]):
+        """Sends the appropriate command via socket to set the value of n variables, and waits for its 'ack' response.
+        :param var_dict: Dictionary of variables to set (variable_name, value).
+        :return: True on successful reception of ack, false if no ack was received, indicating the set may not
+        have been effective.
+        """
+        # construct unique command
+        cmd = "SET"
+        for variable, value in var_dict.items():
+            cmd += f" {variable} {str(value)}"
+        cmd += '\n'  # new line is required for the command to finish
+        # atomic commands send/rcv
+        with self.command_lock:
+            self.socket.sendall(cmd.encode(self.ENCODING))
+            data = self.socket.recv(1024)
+        return self._is_ack(data)
+
+    def _set_var(self, variable: str, value: Union[int, float]):
+        """Sends the appropriate command via socket to set the value of a variable, and waits for its 'ack' response.
+        :param variable: Variable to set.
+        :param value: Value to set for the variable.
+        :return: True on successful reception of ack, false if no ack was received, indicating the set may not
+        have been effective.
+        """
+        return self._set_vars(OrderedDict([(variable, value)]))
+
+    def _get_var(self, variable: str):
+        """Sends the appropriate command to retrieve the value of a variable from the gripper, blocking until the
+        response is received or the socket times out.
+        :param variable: Name of the variable to retrieve.
+        :return: Value of the variable as integer.
+        """
+        # atomic commands send/rcv
+        with self.command_lock:
+            cmd = f"GET {variable}\n"
+            self.socket.sendall(cmd.encode(self.ENCODING))
+            data = self.socket.recv(1024)
+
+        # expect data of the form 'VAR x', where VAR is an echo of the variable name, and X the value
+        # note some special variables (like FLT) may send 2 bytes, instead of an integer. We assume integer here
+        var_name, value_str = data.decode(self.ENCODING).split()
+        if var_name != variable:
+            raise ValueError(f"Unexpected response {data} ({data.decode(self.ENCODING)}): does not match '{variable}'")
+        value = int(value_str)
+        return value
+
+    @staticmethod
+    def _is_ack(data: str):
+        return data == b'ack'
+
+    def _reset(self):
+        """
+        Reset the gripper.
+        The following code is executed in the corresponding script function
+        def rq_reset(gripper_socket="1"):
+            rq_set_var("ACT", 0, gripper_socket)
+            rq_set_var("ATR", 0, gripper_socket)
+
+            while(not rq_get_var("ACT", 1, gripper_socket) == 0 or not rq_get_var("STA", 1, gripper_socket) == 0):
+                rq_set_var("ACT", 0, gripper_socket)
+                rq_set_var("ATR", 0, gripper_socket)
+                sync()
+            end
+
+            sleep(0.5)
+        end
+        """
+        self._set_var(self.ACT, 0)
+        self._set_var(self.ATR, 0)
+        while (not self._get_var(self.ACT) == 0 or not self._get_var(self.STA) == 0):
+            self._set_var(self.ACT, 0)
+            self._set_var(self.ATR, 0)
+        time.sleep(0.5)
+
+
+    def activate(self, auto_calibrate: bool = True):
+        """Resets the activation flag in the gripper, and sets it back to one, clearing previous fault flags.
+        :param auto_calibrate: Whether to calibrate the minimum and maximum positions based on actual motion.
+        The following code is executed in the corresponding script function
+        def rq_activate(gripper_socket="1"):
+            if (not rq_is_gripper_activated(gripper_socket)):
+                rq_reset(gripper_socket)
+
+                while(not rq_get_var("ACT", 1, gripper_socket) == 0 or not rq_get_var("STA", 1, gripper_socket) == 0):
+                    rq_reset(gripper_socket)
+                    sync()
+                end
+
+                rq_set_var("ACT",1, gripper_socket)
+            end
+        end
+        def rq_activate_and_wait(gripper_socket="1"):
+            if (not rq_is_gripper_activated(gripper_socket)):
+                rq_activate(gripper_socket)
+                sleep(1.0)
+
+                while(not rq_get_var("ACT", 1, gripper_socket) == 1 or not rq_get_var("STA", 1, gripper_socket) == 3):
+                    sleep(0.1)
+                end
+
+                sleep(0.5)
+            end
+        end
+        """
+        if not self.is_active():
+            self._reset()
+            while (not self._get_var(self.ACT) == 0 or not self._get_var(self.STA) == 0):
+                time.sleep(0.01)
+
+            self._set_var(self.ACT, 1)
+            time.sleep(1.0)
+            while (not self._get_var(self.ACT) == 1 or not self._get_var(self.STA) == 3):
+                time.sleep(0.01)
+
+        # auto-calibrate position range if desired
+        if auto_calibrate:
+            self.auto_calibrate()
+
+    def is_active(self):
+        """Returns whether the gripper is active."""
+        status = self._get_var(self.STA)
+        return RobotiqGripper.GripperStatus(status) == RobotiqGripper.GripperStatus.ACTIVE
+
+    def get_min_position(self) -> int:
+        """Returns the minimum position the gripper can reach (open position)."""
+        return self._min_position
+
+    def get_max_position(self) -> int:
+        """Returns the maximum position the gripper can reach (closed position)."""
+        return self._max_position
+
+    def get_open_position(self) -> int:
+        """Returns what is considered the open position for gripper (minimum position value)."""
+        return self.get_min_position()
+
+    def get_closed_position(self) -> int:
+        """Returns what is considered the closed position for gripper (maximum position value)."""
+        return self.get_max_position()
+
+    def is_open(self):
+        """Returns whether the current position is considered as being fully open."""
+        return self.get_current_position() <= self.get_open_position()
+
+    def is_closed(self):
+        """Returns whether the current position is considered as being fully closed."""
+        return self.get_current_position() >= self.get_closed_position()
+
+    def get_current_position(self) -> int:
+        """Returns the current position as returned by the physical hardware."""
+        return self._get_var(self.POS)
+
+    def auto_calibrate(self, log: bool = True) -> None:
+        """Attempts to calibrate the open and closed positions, by slowly closing and opening the gripper.
+        :param log: Whether to print the results to log.
+        """
+        # first try to open in case we are holding an object
+        (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1)
+        if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST:
+            raise RuntimeError(f"Calibration failed opening to start: {str(status)}")
+
+        # try to close as far as possible, and record the number
+        (position, status) = self.move_and_wait_for_pos(self.get_closed_position(), 64, 1)
+        if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST:
+            raise RuntimeError(f"Calibration failed because of an object: {str(status)}")
+        assert position <= self._max_position
+        self._max_position = position
+
+        # try to open as far as possible, and record the number
+        (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1)
+        if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST:
+            raise RuntimeError(f"Calibration failed because of an object: {str(status)}")
+        assert position >= self._min_position
+        self._min_position = position
+
+        if log:
+            print(f"Gripper auto-calibrated to [{self.get_min_position()}, {self.get_max_position()}]")
+
+    def move(self, position: int, speed: int, force: int) -> Tuple[bool, int]:
+        """Sends commands to start moving towards the given position, with the specified speed and force.
+        :param position: Position to move to [min_position, max_position]
+        :param speed: Speed to move at [min_speed, max_speed]
+        :param force: Force to use [min_force, max_force]
+        :return: A tuple with a bool indicating whether the action it was successfully sent, and an integer with
+        the actual position that was requested, after being adjusted to the min/max calibrated range.
+        """
+
+        def clip_val(min_val, val, max_val):
+            return max(min_val, min(val, max_val))
+
+        clip_pos = clip_val(self._min_position, position, self._max_position)
+        clip_spe = clip_val(self._min_speed, speed, self._max_speed)
+        clip_for = clip_val(self._min_force, force, self._max_force)
+
+        # moves to the given position with the given speed and force
+        var_dict = OrderedDict([(self.POS, clip_pos), (self.SPE, clip_spe), (self.FOR, clip_for), (self.GTO, 1)])
+        return self._set_vars(var_dict), clip_pos
+
+    def move_and_wait_for_pos(self, position: int, speed: int, force: int) -> Tuple[int, ObjectStatus]:  # noqa
+        """Sends commands to start moving towards the given position, with the specified speed and force, and
+        then waits for the move to complete.
+        :param position: Position to move to [min_position, max_position]
+        :param speed: Speed to move at [min_speed, max_speed]
+        :param force: Force to use [min_force, max_force]
+        :return: A tuple with an integer representing the last position returned by the gripper after it notified
+        that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note
+        that it is possible that the position was not reached, if an object was detected during motion.
+        """
+        set_ok, cmd_pos = self.move(position, speed, force)
+        if not set_ok:
+            raise RuntimeError("Failed to set variables for move.")
+
+        # wait until the gripper acknowledges that it will try to go to the requested position
+        while self._get_var(self.PRE) != cmd_pos:
+            time.sleep(0.001)
+
+        # wait until not moving
+        cur_obj = self._get_var(self.OBJ)
+        while RobotiqGripper.ObjectStatus(cur_obj) == RobotiqGripper.ObjectStatus.MOVING:
+            cur_obj = self._get_var(self.OBJ)
+
+        # report the actual position and the object status
+        final_pos = self._get_var(self.POS)
+        final_obj = cur_obj
+        return final_pos, RobotiqGripper.ObjectStatus(final_obj)
\ No newline at end of file
-- 
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