Description
How urgent is this feature?
8
Is your feature request related to a problem? Please describe.
Currently, teleop does not support controlling the tool (e.g., gripper), which limits its usage in real-world applications like grasping or manipulation during long distance teleop.
Describe the solution you'd like
Add a unified gripper control interface (e.g., same to rdk) to all teleop classes, enabling direct tool control during teleop sessions. And the master's teleop program can remotely control the slave's gripper.
Describe alternatives you've considered
Creating an additional TCP channel for gripper control outside of teleop. However, this approach increases system complexity and is not ideal for synchronized operation. And currently rdk is not supported to be stably working together with tdk. Tool usage is important in real world tasks when use teleop to collect data.
Additional context
Implementing this feature should be technically challenging, especially when considering synchronization and latency across systems. however it would greatly enhance the teleop framework’s practicality. TDK is already such a great work, and look forward to seeing it continue to grow stronger!