1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
|
/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Franka robot tool.
*/
/*!
\example frankaGripper.cpp
Move Panda robot from Franka Emika to a position specified from a file.
*/
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpRobotFranka.h>
#if defined(VISP_HAVE_FRANKA)
typedef enum
{
Gripper_Home,
Gripper_Open,
Gripper_Close,
Gripper_Grasp,
Gripper_Release,
Gripper_Test,
Gripper_None
} GripperState_t;
int main(int argc, char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
std::string opt_robot_ip = "192.168.1.1";
double opt_grasping_width = 0.;
double opt_grasping_speed = 0.1;
double opt_grasping_force = 60;
GripperState_t opt_gripper_state = Gripper_None;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
++i;
opt_robot_ip = std::string(argv[i]);
}
else if (std::string(argv[i]) == "--home") {
opt_gripper_state = Gripper_Home;
}
else if (std::string(argv[i]) == "--open") {
opt_gripper_state = Gripper_Open;
}
else if (std::string(argv[i]) == "--close") {
opt_gripper_state = Gripper_Close;
}
else if (std::string(argv[i]) == "--release") {
opt_gripper_state = Gripper_Release;
}
else if (std::string(argv[i]) == "--grasp" && i + 1 < argc) {
++i;
opt_gripper_state = Gripper_Grasp;
opt_grasping_width = std::atof(argv[i]);
}
else if (std::string(argv[i]) == "--grasp-speed" && i + 1 < argc) {
++i;
opt_grasping_speed = std::atof(argv[i]);
}
else if (std::string(argv[i]) == "--grasp-force" && i + 1 < argc) {
++i;
opt_grasping_force = std::atof(argv[i]);
}
else if (std::string(argv[i]) == "--test" && i + 1 < argc) {
++i;
opt_gripper_state = Gripper_Test;
opt_grasping_width = std::atof(argv[i]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "SYNOPSYS" << std::endl
<< " " << argv[0]
<< " [--ip <controller ip>]"
<< " [--home]"
<< " [--open]"
<< " [--close]"
<< " [--grasp <width>]"
<< " [--grasp-speed <speed>]"
<< " [--grasp-force <force>]"
<< " [--release]"
<< " [--test <width>]"
<< " [--help] [-h]\n" << std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " Control Panda gripper." << std::endl
<< std::endl
<< " --ip <controller ip>" << std::endl
<< " Franka controller ip address" << std::endl
<< " Default: " << opt_robot_ip << std::endl
<< std::endl
<< " --home" << std::endl
<< " Performs homing of the gripper." << std::endl
<< std::endl
<< " --open" << std::endl
<< " Performs opening of the gripper." << std::endl
<< std::endl
<< " --close" << std::endl
<< " Performs closing of the gripper." << std::endl
<< std::endl
<< " --grasp <object width>" << std::endl
<< " Performs grasping of an object." << std::endl
<< " Object width is to specify in [m]." << std::endl
<< " Default width: " << opt_grasping_width << " [m]" << std::endl
<< std::endl
<< " --grasp-speed <speed>" << std::endl
<< " Closing speed in [m/s] applied during grasping." << std::endl
<< " Default: " << opt_grasping_speed << " [m/s]" << std::endl
<< std::endl
<< " --grasp-force <force>" << std::endl
<< " Force in [N] applied during grasping." << std::endl
<< " Default: " << opt_grasping_force << " [N]" << std::endl
<< std::endl
<< " --release" << std::endl
<< " Release an object that is grasped." << std::endl
<< std::endl
<< " --test <object width>" << std::endl
<< " Performs a gripper test on an object width specified in [m]." << std::endl
<< " Default width: " << opt_grasping_width << " [m]" << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
std::cout << "EXAMPLE" << std::endl
<< " To grasp a 4cm width object by first opening the gripper, then grasping the object:\n"
<< " " << argv[0] << " --ip 192.168.100.1 --open\n"
<< " " << argv[0] << " --ip 192.168.100.1 --grasp 0.04\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
if (opt_gripper_state == Gripper_None) {
std::cout << "Specify which action you want to achieve. Run \"" << argv[0]
<< " --help\" to see how to use this binary." << std::endl;
return EXIT_SUCCESS;
}
else if ((opt_gripper_state == Gripper_Grasp || opt_gripper_state == Gripper_Test) && opt_grasping_width <= 0) {
std::cout << "Object with in meter should be > 0. Run \"" << argv[0] << " --help\" to see how to use this binary."
<< std::endl;
return EXIT_SUCCESS;
}
vpRobotFranka robot;
try {
robot.connect(opt_robot_ip);
if (opt_gripper_state == Gripper_Home) {
std::cout << "Gripper homing..." << std::endl;
robot.gripperHoming();
}
else if (opt_gripper_state == Gripper_Close) {
std::cout << "Gripper closing..." << std::endl;
robot.gripperClose();
}
else if (opt_gripper_state == Gripper_Open) {
std::cout << "Gripper opening..." << std::endl;
robot.gripperOpen();
}
else if (opt_gripper_state == Gripper_Grasp) {
std::cout << "Gripper grasp " << opt_grasping_width << "m object width, with speed: " << opt_grasping_speed << " and force: " << opt_grasping_force << "N..." << std::endl;
robot.gripperGrasp(opt_grasping_width, opt_grasping_speed, opt_grasping_force);
}
else if (opt_gripper_state == Gripper_Release) {
std::cout << "Gripper release object..." << std::endl;
robot.gripperRelease();
}
else if (opt_gripper_state == Gripper_Test) {
std::cout << "Test gripper performing the following actions:" << std::endl;
std::cout << "- Gripper homing..." << std::endl;
robot.gripperHoming();
vpTime::sleepMs(1000);
std::cout << "- Gripper closing..." << std::endl;
robot.gripperClose();
vpTime::sleepMs(1000);
std::cout << "- Gripper open 5cm..." << std::endl;
robot.gripperMove(0.05);
vpTime::sleepMs(3000);
std::cout << "- Gripper opening..." << std::endl;
robot.gripperOpen();
vpTime::sleepMs(3000);
std::cout << "- Gripper grasp " << opt_grasping_width << "m object width, with speed: " << opt_grasping_speed << " and force: " << opt_grasping_force << "N..." << std::endl;
robot.gripperGrasp(opt_grasping_width, opt_grasping_speed, opt_grasping_force);
vpTime::sleepMs(3000);
std::cout << "- Gripper release object..." << std::endl;
robot.gripperRelease();
}
std::cout << "The end!" << std::endl;
}
catch (const vpException &e) {
std::cout << "ViSP exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const franka::NetworkException &e) {
std::cout << "Franka network exception: " << e.what() << std::endl;
std::cout << "Check if you are connected to the Franka robot"
<< " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. "
<< std::endl;
return EXIT_FAILURE;
}
catch (const std::exception &e) {
std::cout << "Franka exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_FRANKA)
std::cout << "Install libfranka 3rd party, configure and build again ViSP to use this example..." << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif
|
