franka_execute_trajectory.cpp

An example showing how to execute a joint trajectory loaded from a CSV file.

This example is part of libfranka FCI C++ API: https://frankaemika.github.io/libfranka See https://frankaemika.github.io/docs for more details.

// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <fstream>
#include <iostream>
#include <iterator>
#include <vector>

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_FRANKA

#include <franka/exception.h>
#include <franka/robot.h>

template <class T, size_t N> std::ostream &operator<<(std::ostream &ostream, const std::array<T, N> &array)
{
  ostream << "[";
  std::copy(array.cbegin(), array.cend() - 1, std::ostream_iterator<T>(ostream, ","));
  std::copy(array.cend() - 1, array.cend(), std::ostream_iterator<T>(ostream));
  ostream << "]";
  return ostream;
}

int main(int argc, char **argv)
{
  if (argc != 4) {
    std::cerr << "Usage: " << argv[0] << " <robot-hostname> <trajectory-csv> <output>" << std::endl;
    return -1;
  }

  std::cout << "Loading csv trajectory" << std::endl;
  std::fstream csv_file_stream;
  csv_file_stream.open(argv[2], std::fstream::in);

  std::vector<std::array<double, 7> > samples;
  while (csv_file_stream) {
    std::array<double, 7> q;
    char delimiter;
    for (int i = 0; i < 7; i++) {
      csv_file_stream >> q[i] >> delimiter;
    }
    samples.push_back(q);
  }
  std::cout << "Read " << samples.size() << " samples" << std::endl;

  std::vector<franka::RobotState> states;
  try {
    franka::Robot robot(argv[1]);

    // Set additional parameters always before the control loop, NEVER in the
    // control loop! Set collision behavior.
    robot.setCollisionBehavior(
        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});

    // Set the joint impedance.
    robot.setJointImpedance({{3000, 3000, 3000, 2500, 2500, 2000, 2000}});

    size_t index = 0;
    robot.control([&](const franka::RobotState &robot_state, franka::Duration time_step) -> franka::JointPositions {
      states.push_back(robot_state);

      index += time_step.toMSec();

      if (index >= samples.size() - 1) {
        return franka::MotionFinished(franka::JointPositions(samples.back()));
      }
      return samples[index];
    });
  } catch (const franka::ControlException &e) {
    std::cout << e.what() << std::endl;
  } catch (const franka::Exception &e) {
    std::cout << e.what() << std::endl;
    return -1;
  }

  std::cout << "Logging results to file: " << argv[3] << std::endl;
  std::fstream output_stream;
  output_stream.open(argv[3], std::fstream::out);
  for (size_t s = 0; s < states.size(); s++) {
    output_stream << "Sample: #" << s << std::endl;
    output_stream << "q_d: \t" << samples[s] << std::endl;
    output_stream << "Robot state:" << std::endl;
    output_stream << "q: \t" << states[s].q << std::endl;
    output_stream << "q_d: \t" << states[s].q_d << std::endl;
    output_stream << "dq: \t" << states[s].dq << std::endl;
    output_stream << "______" << std::endl;
  }

  return 0;
}

#else
int main() { std::cout << "This example needs libfranka to control Panda robot." << std::endl; }
#endif