Visual Servoing Platform version 3.7.0
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frankaGripper.cpp
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Franka robot tool.
32 */
33
38
39#include <iostream>
40
41#include <visp3/core/vpConfig.h>
42#include <visp3/robot/vpRobotFranka.h>
43
44#if defined(VISP_HAVE_FRANKA)
45
46typedef enum
47{
48 Gripper_Home,
49 Gripper_Open,
50 Gripper_Close,
51 Gripper_Grasp,
52 Gripper_Release,
53 Gripper_Test,
54 Gripper_None
55} GripperState_t;
56
57int main(int argc, char **argv)
58{
59#ifdef ENABLE_VISP_NAMESPACE
60 using namespace VISP_NAMESPACE_NAME;
61#endif
62
63 std::string opt_robot_ip = "192.168.1.1";
64 double opt_grasping_width = 0.;
65 double opt_grasping_speed = 0.1;
66 double opt_grasping_force = 60;
67 GripperState_t opt_gripper_state = Gripper_None;
68
69 for (int i = 1; i < argc; i++) {
70 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
71 ++i;
72 opt_robot_ip = std::string(argv[i]);
73 }
74 else if (std::string(argv[i]) == "--home") {
75 opt_gripper_state = Gripper_Home;
76 }
77 else if (std::string(argv[i]) == "--open") {
78 opt_gripper_state = Gripper_Open;
79 }
80 else if (std::string(argv[i]) == "--close") {
81 opt_gripper_state = Gripper_Close;
82 }
83 else if (std::string(argv[i]) == "--release") {
84 opt_gripper_state = Gripper_Release;
85 }
86 else if (std::string(argv[i]) == "--grasp" && i + 1 < argc) {
87 ++i;
88 opt_gripper_state = Gripper_Grasp;
89 opt_grasping_width = std::atof(argv[i]);
90 }
91 else if (std::string(argv[i]) == "--grasp-speed" && i + 1 < argc) {
92 ++i;
93 opt_grasping_speed = std::atof(argv[i]);
94 }
95 else if (std::string(argv[i]) == "--grasp-force" && i + 1 < argc) {
96 ++i;
97 opt_grasping_force = std::atof(argv[i]);
98 }
99 else if (std::string(argv[i]) == "--test" && i + 1 < argc) {
100 ++i;
101 opt_gripper_state = Gripper_Test;
102 opt_grasping_width = std::atof(argv[i]);
103 }
104 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
105 std::cout << "SYNOPSYS" << std::endl
106 << " " << argv[0]
107 << " [--ip <controller ip>]"
108 << " [--home]"
109 << " [--open]"
110 << " [--close]"
111 << " [--grasp <width>]"
112 << " [--grasp-speed <speed>]"
113 << " [--grasp-force <force>]"
114 << " [--release]"
115 << " [--test <width>]"
116 << " [--help] [-h]\n" << std::endl;
117 std::cout << "DESCRIPTION" << std::endl
118 << " Control Panda gripper." << std::endl
119 << std::endl
120 << " --ip <controller ip>" << std::endl
121 << " Franka controller ip address" << std::endl
122 << " Default: " << opt_robot_ip << std::endl
123 << std::endl
124 << " --home" << std::endl
125 << " Performs homing of the gripper." << std::endl
126 << std::endl
127 << " --open" << std::endl
128 << " Performs opening of the gripper." << std::endl
129 << std::endl
130 << " --close" << std::endl
131 << " Performs closing of the gripper." << std::endl
132 << std::endl
133 << " --grasp <object width>" << std::endl
134 << " Performs grasping of an object." << std::endl
135 << " Object width is to specify in [m]." << std::endl
136 << " Default width: " << opt_grasping_width << " [m]" << std::endl
137 << std::endl
138 << " --grasp-speed <speed>" << std::endl
139 << " Closing speed in [m/s] applied during grasping." << std::endl
140 << " Default: " << opt_grasping_speed << " [m/s]" << std::endl
141 << std::endl
142 << " --grasp-force <force>" << std::endl
143 << " Force in [N] applied during grasping." << std::endl
144 << " Default: " << opt_grasping_force << " [N]" << std::endl
145 << std::endl
146 << " --release" << std::endl
147 << " Release an object that is grasped." << std::endl
148 << std::endl
149 << " --test <object width>" << std::endl
150 << " Performs a gripper test on an object width specified in [m]." << std::endl
151 << " Default width: " << opt_grasping_width << " [m]" << std::endl
152 << std::endl
153 << " --help, -h" << std::endl
154 << " Print this helper message." << std::endl
155 << std::endl;
156 std::cout << "EXAMPLE" << std::endl
157 << " To grasp a 4cm width object by first opening the gripper, then grasping the object:\n"
158 << " " << argv[0] << " --ip 192.168.100.1 --open\n"
159 << " " << argv[0] << " --ip 192.168.100.1 --grasp 0.04\n"
160 << std::endl;
161
162 return EXIT_SUCCESS;
163 }
164 }
165
166 if (opt_gripper_state == Gripper_None) {
167 std::cout << "Specify which action you want to achieve. Run \"" << argv[0]
168 << " --help\" to see how to use this binary." << std::endl;
169 return EXIT_SUCCESS;
170 }
171 else if ((opt_gripper_state == Gripper_Grasp || opt_gripper_state == Gripper_Test) && opt_grasping_width <= 0) {
172 std::cout << "Object with in meter should be > 0. Run \"" << argv[0] << " --help\" to see how to use this binary."
173 << std::endl;
174 return EXIT_SUCCESS;
175 }
176
177 vpRobotFranka robot;
178
179 try {
180 robot.connect(opt_robot_ip);
181
182 if (opt_gripper_state == Gripper_Home) {
183 std::cout << "Gripper homing..." << std::endl;
184 robot.gripperHoming();
185 }
186 else if (opt_gripper_state == Gripper_Close) {
187 std::cout << "Gripper closing..." << std::endl;
188 robot.gripperClose();
189 }
190 else if (opt_gripper_state == Gripper_Open) {
191 std::cout << "Gripper opening..." << std::endl;
192 robot.gripperOpen();
193 }
194 else if (opt_gripper_state == Gripper_Grasp) {
195 std::cout << "Gripper grasp " << opt_grasping_width << "m object width, with speed: " << opt_grasping_speed << " and force: " << opt_grasping_force << "N..." << std::endl;
196 robot.gripperGrasp(opt_grasping_width, opt_grasping_speed, opt_grasping_force);
197 }
198 else if (opt_gripper_state == Gripper_Release) {
199 std::cout << "Gripper release object..." << std::endl;
200 robot.gripperRelease();
201 }
202 else if (opt_gripper_state == Gripper_Test) {
203 std::cout << "Test gripper performing the following actions:" << std::endl;
204 std::cout << "- Gripper homing..." << std::endl;
205 robot.gripperHoming();
206 vpTime::sleepMs(1000);
207 std::cout << "- Gripper closing..." << std::endl;
208 robot.gripperClose();
209 vpTime::sleepMs(1000);
210 std::cout << "- Gripper open 5cm..." << std::endl;
211 robot.gripperMove(0.05);
212 vpTime::sleepMs(3000);
213 std::cout << "- Gripper opening..." << std::endl;
214 robot.gripperOpen();
215 vpTime::sleepMs(3000);
216 std::cout << "- Gripper grasp " << opt_grasping_width << "m object width, with speed: " << opt_grasping_speed << " and force: " << opt_grasping_force << "N..." << std::endl;
217 robot.gripperGrasp(opt_grasping_width, opt_grasping_speed, opt_grasping_force);
218 vpTime::sleepMs(3000);
219 std::cout << "- Gripper release object..." << std::endl;
220 robot.gripperRelease();
221 }
222 std::cout << "The end!" << std::endl;
223 }
224 catch (const vpException &e) {
225 std::cout << "ViSP exception: " << e.what() << std::endl;
226 return EXIT_FAILURE;
227 }
228 catch (const franka::NetworkException &e) {
229 std::cout << "Franka network exception: " << e.what() << std::endl;
230 std::cout << "Check if you are connected to the Franka robot"
231 << " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. "
232 << std::endl;
233 return EXIT_FAILURE;
234 }
235 catch (const std::exception &e) {
236 std::cout << "Franka exception: " << e.what() << std::endl;
237 return EXIT_FAILURE;
238 }
239
240 return EXIT_SUCCESS;
241}
242#else
243int main()
244{
245#if !defined(VISP_HAVE_FRANKA)
246 std::cout << "Install libfranka 3rd party, configure and build again ViSP to use this example..." << std::endl;
247#endif
248 return EXIT_SUCCESS;
249}
250#endif
vpException
error that can be emitted by ViSP classes.
Definition vpException.h:60
VISP_NAMESPACE_NAME
Definition vpEigenConversion.h:44
vpTime::sleepMs
VISP_EXPORT void sleepMs(double t)