Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
takktile2-control.cpp

Example that shows how to control Reflex Takktile 2 hand from Right Hand Robotics.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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 http://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:
* Interface for the Reflex Takktile 2 hand from Right Hand Robotics.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <string>
#include <iostream>
#include <visp3/robot/vpReflexTakktile2.h>
int main(int argc, char *argv[])
{
std::string opt_network_interface = "eth0";
std::string opt_finger_file_name = "yaml/finger_calibrate.yaml";
std::string opt_tactile_file_name = "yaml/tactile_calibrate.yaml";
std::string opt_motor_file_name = "yaml/motor_constants.yaml";
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--network")
opt_network_interface = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--finger")
opt_finger_file_name = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--tactile")
opt_tactile_file_name = atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--motor")
opt_motor_file_name = atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--network <interface name>] "
" [--finger <calib file name>]"
" [--tactile <calib file name>]"
" [--motor <constants file name>]"
" [--help] [-h]\n"
<< std::endl;
std::cout << "Options:" << std::endl;
std::cout << " --network <interface name>" << std::endl;
std::cout << "\tNetwork interface name. Default: " << opt_network_interface << std::endl << std::endl;
std::cout << " --finger <calib file name>" << std::endl;
std::cout << "\tFinger calibration file name. Default: " << opt_finger_file_name << std::endl << std::endl;
std::cout << " --tactile <calib file name>" << std::endl;
std::cout << "\tTactile calibration file name. Default: " << opt_tactile_file_name << std::endl << std::endl;
std::cout << " --motor <constants file name>" << std::endl;
std::cout << "\tMotor constants file name. Default: " << opt_motor_file_name << std::endl << std::endl;
std::cout << " --help, -h" << std::endl;
std::cout << "\tPrint this helper." << std::endl;
return 0;
}
}
#ifdef VISP_HAVE_TAKKTILE2
reflex.setNetworkInterface(opt_network_interface);
reflex.setFingerConfigFile(opt_finger_file_name);
reflex.setTactileConfigFile(opt_tactile_file_name);
reflex.setMotorConfigFile(opt_motor_file_name);
reflex.open();
/****************************************************/
reflex.calibrate();
reflex.wait(100);
std::cout << "Calibration complete" << std::endl;
reflex.wait(500);
/****************************************************/
// Demonstration of position control
std::cout << "Moving fingers..." << std::endl;
std::vector<vpColVector> finger_positions = {
{0.0, 0.0, 0.0, 0.0}, {0.5, 0.5, 0.5, 0.0}, {1.0, 1.0, 1.0, 0.0}, {0.5, 0.5, 0.5, 0.0}, {0.0, 0.0, 0.0, 0.0}};
for (size_t i = 0; i < finger_positions.size(); i++) {
reflex.setPosition(finger_positions[i]);
reflex.wait(500);
}
std::cout << "Finger movement complete" << std::endl;
reflex.wait(500);
/****************************************************/
// Demonstration of preshape joint
std::cout << "Moving preshape joint..." << std::endl;
std::vector<vpColVector> preshape_positions = {
{0.0, 0.0, 0.0, 0.0}, {0.0, 0.0, 0.0, 0.5}, {0.0, 0.0, 0.0, 1.5}, {0.0, 0.0, 0.0, 0.5}, {0.0, 0.0, 0.0, 0.0}};
for (size_t i = 0; i < preshape_positions.size(); i++) {
reflex.setPosition(preshape_positions[i]);
reflex.wait(500);
}
std::cout << "Preshape movement complete" << std::endl;
reflex.wait(500);
/****************************************************/
// Demonstration of changing velocity
std::cout << "Changing to faster speed..." << std::endl;
vpColVector faster_velocities = {7.0, 7.0, 7.0, 7.0};
reflex.setPositioningVelocity(faster_velocities);
for (size_t i = 0; i < finger_positions.size(); i++) {
reflex.setPosition(finger_positions[i]);
reflex.wait(500);
}
std::cout << "Changing to slower speed..." << std::endl;
vpColVector slower_velocities = {0.5, 0.5, 0.5, 0.5};
reflex.setPositioningVelocity(slower_velocities);
for (size_t i = 0; i < finger_positions.size(); i++) {
reflex.setPosition(finger_positions[i]);
reflex.wait(500);
}
std::cout << "Done changing speeds" << std::endl;
reflex.wait(500);
/****************************************************/
// Demonstration of blended control
std::cout << "Starting blended control..." << std::endl;
vpColVector mixed_speeds = {0.5, 1.0, 1.5, 0.0};
reflex.setPositioningVelocity(mixed_speeds);
for (int i = 0; i < 5; i++) {
reflex.setPosition(finger_positions[i]);
reflex.wait(500);
}
reflex.setPositioningVelocity(slower_velocities);
std::cout << "Blended control complete" << std::endl;
reflex.wait(500);
/****************************************************/
// Demonstration of tactile feedback and setting sensor thresholds
std::cout << "Starting tactile feedback..." << std::endl
<< "All fingers will stop moving when any one makes contact" << std::endl;
vpColVector move_speeds = {1.25, 1.25, 1.25, 0};
reflex.setTactileThreshold(15);
reflex.setVelocityUntilAnyContact(move_speeds);
reflex.wait(1000);
reflex.setPosition(finger_positions[0]);
reflex.wait(500);
/****************************************************/
std::cout << "Now each finger will only stop moving once it makes contact" << std::endl;
std::vector<int> thresholds = {10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 20, 20, 20, 20, 20, 20, 20,
20, 20, 20, 20, 20, 20, 20, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30};
reflex.setTactileThreshold(thresholds);
reflex.setVelocityUntilEachContact(move_speeds);
reflex.wait(1000);
reflex.setPosition(finger_positions[0]);
reflex.wait(500);
/****************************************************/
reflex.disableTorque();
std::cout << "All torques disabled" << std::endl;
std::cout << "The end" << std::endl;
#else
std::cout << "ViSP is not built to support Right Hand Reflex Takktile2 hand" << std::endl;
#endif
return EXIT_SUCCESS;
}