(RobotSystem* robot); virtual ~Gripper(); void home(); void set_control_mode(GripperCtrlMode cm); void set_gripper_position(double mpos); double get_joint_position(int jidx); GripperStatus_t get_status() { return gripper_status_; }protected: void _goal_setup(); void _task_setup(); void _compliant_setup(); void _compensation_setup(); void _contain_setup(); void _jpos_ctrl_setup(); GripperCtrlMode gripper_ctrl_mode_; GripperStatus_t gripper_status_; double cmd_mpos_; double cmd_jpos_;};#endif /* end of include guard: QUAD_HAND_H_CAZPM6UW */

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