Real-time Remote Control of Franka Gripper with Gello

[yiyikkk]

Thank you for bringing up Gello—it's a fantastic tool for teleoperating robots!

I am using Gello to teleoperate a Franka Panda FR3, and everything works well except for the gripper control, which is not real-time. Currently, I have to set a threshold—when Gello's gripper closes beyond a certain point, the Franka executes a grasp command. However, this does not fully replicate the behavior of Gello's gripper.

I noticed that your demo uses a Robotiq gripper. Is the control for Robotiq real-time? I would like the Franka gripper to precisely follow the opening and closing percentage of Gello’s gripper while also enabling grasping functionality. For example:

• When Gello’s gripper closes to 70%, Franka’s gripper should also close to 70%, regardless of whether there is an object to grasp.
• If Gello’s gripper closes to 20%, then Franka’s gripper continues closing until it grasps an object. Franka should maintain the grasp as long as Gello’s gripper remains more closed than the object's width.
• Ideally, the tighter Gello’s grip, the greater the force applied by Franka.

Can the Franka gripper support real-time remote control of both width and force?
Looking forward to your response. Thanks!