Visual Servoing Platform  version 3.4.1 under development (2021-10-26)
vpRobotFranka.cpp
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Franka robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #ifdef VISP_HAVE_FRANKA
42 
43 #include <visp3/robot/vpRobotException.h>
44 #include <visp3/robot/vpRobotFranka.h>
45 #include <visp3/core/vpIoTools.h>
46 
47 #include "vpJointPosTrajGenerator_impl.h"
48 #include "vpJointVelTrajGenerator_impl.h"
49 #include "vpForceTorqueGenerator_impl.h"
50 
57  : vpRobot(), m_handler(NULL), m_gripper(NULL), m_model(NULL), m_positionningVelocity(20.),
58  m_velControlThread(), m_velControlThreadIsRunning(false), m_velControlThreadStopAsked(false),
59  m_dq_des(), m_v_cart_des(),
60  m_ftControlThread(), m_ftControlThreadIsRunning(false), m_ftControlThreadStopAsked(false),
61  m_tau_J_des(), m_ft_cart_des(),
62  m_q_min(), m_q_max(), m_dq_max(), m_ddq_max(), m_robot_state(),
63  m_mutex(), m_eMc(), m_log_folder(), m_franka_address()
64 {
65  init();
66 }
67 
74 vpRobotFranka::vpRobotFranka(const std::string &franka_address, franka::RealtimeConfig realtime_config)
75  : vpRobot(), m_handler(NULL), m_gripper(NULL), m_model(NULL), m_positionningVelocity(20.),
76  m_velControlThread(), m_velControlThreadIsRunning(false), m_velControlThreadStopAsked(false),
77  m_dq_des(), m_v_cart_des(),
78  m_ftControlThread(), m_ftControlThreadIsRunning(false), m_ftControlThreadStopAsked(false),
79  m_tau_J_des(), m_ft_cart_des(),
80  m_q_min(), m_q_max(), m_dq_max(), m_ddq_max(), m_robot_state(),
81  m_mutex(), m_eMc(),m_log_folder(), m_franka_address()
82 {
83  init();
84  connect(franka_address, realtime_config);
85 }
86 
90 void vpRobotFranka::init()
91 {
92  nDof = 7;
93 
94  m_q_min = std::array<double, 7> {-2.8973, -1.7628, -2.8973, -3.0718, -2.8973, -0.0175, -2.8973};
95  m_q_max = std::array<double, 7> {2.8973, 1.7628, 2.8973, -0.0698, 2.8973, 3.7525, 2.8973};
96  m_dq_max = std::array<double, 7> {2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100};
97  m_ddq_max = std::array<double, 7> {15.0, 7.5, 10.0, 12.5, 15.0, 20.0, 20.0};
98 }
99 
106 {
108 
109  if (m_handler)
110  delete m_handler;
111 
112  if (m_gripper) {
113  std::cout << "Grasped object, will release it now." << std::endl;
114  m_gripper->stop();
115  delete m_gripper;
116  }
117 
118  if (m_model) {
119  delete m_model;
120  }
121 }
122 
129 void vpRobotFranka::connect(const std::string &franka_address, franka::RealtimeConfig realtime_config)
130 {
131  init();
132  if(franka_address.empty()) {
133  throw(vpException(vpException::fatalError, "Cannot connect Franka robot: IP/hostname is not set"));
134  }
135  if (m_handler)
136  delete m_handler;
137 
138  m_franka_address = franka_address;
139  m_handler = new franka::Robot(franka_address, realtime_config);
140 
141  std::array<double, 7> lower_torque_thresholds_nominal{
142  {25.0, 25.0, 22.0, 20.0, 19.0, 17.0, 14.}};
143  std::array<double, 7> upper_torque_thresholds_nominal{
144  {35.0, 35.0, 32.0, 30.0, 29.0, 27.0, 24.0}};
145  std::array<double, 7> lower_torque_thresholds_acceleration{
146  {25.0, 25.0, 22.0, 20.0, 19.0, 17.0, 14.0}};
147  std::array<double, 7> upper_torque_thresholds_acceleration{
148  {35.0, 35.0, 32.0, 30.0, 29.0, 27.0, 24.0}};
149  std::array<double, 6> lower_force_thresholds_nominal{{30.0, 30.0, 30.0, 25.0, 25.0, 25.0}};
150  std::array<double, 6> upper_force_thresholds_nominal{{40.0, 40.0, 40.0, 35.0, 35.0, 35.0}};
151  std::array<double, 6> lower_force_thresholds_acceleration{{30.0, 30.0, 30.0, 25.0, 25.0, 25.0}};
152  std::array<double, 6> upper_force_thresholds_acceleration{{40.0, 40.0, 40.0, 35.0, 35.0, 35.0}};
153  m_handler->setCollisionBehavior(
154  lower_torque_thresholds_acceleration, upper_torque_thresholds_acceleration,
155  lower_torque_thresholds_nominal, upper_torque_thresholds_nominal,
156  lower_force_thresholds_acceleration, upper_force_thresholds_acceleration,
157  lower_force_thresholds_nominal, upper_force_thresholds_nominal);
158 
159  m_handler->setJointImpedance({{3000, 3000, 3000, 2500, 2500, 2000, 2000}});
160  m_handler->setCartesianImpedance({{3000, 3000, 3000, 300, 300, 300}});
161 #if (VISP_HAVE_FRANKA_VERSION < 0x000500)
162  // m_handler->setFilters(100, 100, 100, 100, 100);
163  m_handler->setFilters(10, 10, 10, 10, 10);
164 #else
165  // use franka::lowpassFilter() instead throw Franka::robot::control() with cutoff_frequency parameter
166 #endif
167  if (m_model) {
168  delete m_model;
169  }
170  m_model = new franka::Model(m_handler->loadModel());
171 }
172 
188 {
189  if (!m_handler) {
190  throw(vpException(vpException::fatalError, "Cannot get Franka robot position: robot is not connected"));
191  }
192 
193  franka::RobotState robot_state = getRobotInternalState();
194  vpColVector q(7);
195  for (int i=0; i < 7; i++) {
196  q[i] = robot_state.q[i];
197  }
198 
199  switch(frame) {
200  case JOINT_STATE: {
201  position = q;
202  break;
203  }
204  case END_EFFECTOR_FRAME: {
205  position.resize(6);
206  vpHomogeneousMatrix fMe = get_fMe(q);
207  vpPoseVector fPe(fMe);
208  for (size_t i=0; i < 6; i++) {
209  position[i] = fPe[i];
210  }
211  break;
212  }
213  case TOOL_FRAME: { // same a CAMERA_FRAME
214  position.resize(6);
215  vpHomogeneousMatrix fMc = get_fMc(q);
216  vpPoseVector fPc(fMc);
217  for (size_t i=0; i < 6; i++) {
218  position[i] = fPc[i];
219  }
220  break;
221  }
222  default: {
223  throw(vpException(vpException::fatalError, "Cannot get Franka cartesian position: wrong method"));
224  }
225  }
226 }
227 
242 {
243  if (!m_handler) {
244  throw(vpException(vpException::fatalError, "Cannot get Franka robot position: robot is not connected"));
245  }
246 
247  franka::RobotState robot_state = getRobotInternalState();
248 
249  switch(frame) {
250  case JOINT_STATE: {
251  force.resize(7);
252  for (int i=0; i < 7; i++)
253  force[i] = robot_state.tau_J[i];
254 
255  break;
256  }
257  case END_EFFECTOR_FRAME: {
258  force.resize(6);
259  for (int i=0; i < 6; i++)
260  force[i] = robot_state.K_F_ext_hat_K[i];
261  break;
262  }
263  case TOOL_FRAME: {
264  // end-effector frame
265  vpColVector eFe(6);
266  for (int i=0; i < 6; i++)
267  eFe[i] = robot_state.K_F_ext_hat_K[i];
268 
269  // Transform in tool frame
271  vpForceTwistMatrix cWe( cMe );
272  force = cWe * eFe;
273  break;
274  }
275  default: {
276  throw(vpException(vpException::fatalError, "Cannot get Franka cartesian position: wrong method"));
277  }
278  }
279 }
280 
296 {
297  if (!m_handler) {
298  throw(vpException(vpException::fatalError, "Cannot get Franka robot velocity: robot is not connected"));
299  }
300 
301  franka::RobotState robot_state = getRobotInternalState();
302 
303  switch(frame) {
304 
305  case JOINT_STATE: {
306  d_position.resize(7);
307  for (int i=0; i < 7; i++) {
308  d_position[i]=robot_state.dq[i];
309  }
310  break;
311  }
312 
313  default: {
314  throw(vpException(vpException::fatalError, "Cannot get Franka cartesian velocity: not implemented"));
315  }
316  }
317 }
318 
325 {
326  if (!m_handler) {
327  throw(vpException(vpException::fatalError, "Cannot get Franka robot position: robot is not connected"));
328  }
329 
330  std::array<double, 7> coriolis_;
331 
332  franka::RobotState robot_state = getRobotInternalState();
333 
334  coriolis_ = m_model->coriolis(robot_state);
335 
336  coriolis.resize(7);
337  for (int i=0; i < 7; i++) {
338  coriolis[i] = coriolis_[i];
339  }
340 }
341 
347 {
348  if (!m_handler) {
349  throw(vpException(vpException::fatalError, "Cannot get Franka robot position: robot is not connected"));
350  }
351 
352  std::array<double, 7> gravity_;
353 
354  franka::RobotState robot_state = getRobotInternalState();
355 
356  gravity_ = m_model->gravity(robot_state);
357 
358  gravity.resize(7);
359  for (int i=0; i < 7; i++) {
360  gravity[i] = gravity_[i];
361  }
362 }
363 
369 {
370  if (!m_handler) {
371  throw(vpException(vpException::fatalError, "Cannot get Franka robot position: robot is not connected"));
372  }
373 
374  std::array<double, 49> mass_;
375 
376  franka::RobotState robot_state = getRobotInternalState();
377 
378  mass_ = m_model->mass(robot_state); // column-major
379 
380  mass.resize(7, 7); // row-major
381  for (size_t i = 0; i < 7; i ++) {
382  for (size_t j = 0; j < 7; j ++) {
383  mass[i][j] = mass_[j*7 + i];
384  }
385  }
386 }
387 
396 {
397  if (!m_handler) {
398  throw(vpException(vpException::fatalError, "Cannot get Franka robot position: robot is not connected"));
399  }
400  if (q.size() != 7) {
401  throw(vpException(vpException::fatalError, "Joint position vector [%u] is not a 7-dim vector", q.size()));
402  }
403 
404  std::array< double, 7 > q_array;
405  for (size_t i = 0; i < 7; i++)
406  q_array[i] = q[i];
407 
408  franka::RobotState robot_state = getRobotInternalState();
409 
410  std::array<double, 16> pose_array = m_model->pose(franka::Frame::kEndEffector, q_array, robot_state.F_T_EE, robot_state.EE_T_K);
412  for (unsigned int i=0; i< 4; i++) {
413  for (unsigned int j=0; j< 4; j++) {
414  fMe[i][j] = pose_array[j*4 + i];
415  }
416  }
417 
418  return fMe;
419 }
420 
436 {
437  vpHomogeneousMatrix fMe = get_fMe(q);
438  return (fMe * m_eMc);
439 }
440 
452 {
453  if (!m_handler) {
454  throw(vpException(vpException::fatalError, "Cannot get Franka robot position: robot is not connected"));
455  }
456  if (frame == JOINT_STATE) {
457  throw(vpException(vpException::fatalError, "Cannot get Franka joint position as a pose vector"));
458  }
459 
460  franka::RobotState robot_state = getRobotInternalState();
461 
462  std::array<double, 16> pose_array = robot_state.O_T_EE;
464  for (unsigned int i=0; i< 4; i++) {
465  for (unsigned int j=0; j< 4; j++) {
466  fMe[i][j] = pose_array[j*4 + i];
467  }
468  }
469 
470  switch(frame) {
471  case END_EFFECTOR_FRAME: {
472  pose.buildFrom(fMe);
473  break;
474  }
475  case TOOL_FRAME: {
476  pose.buildFrom(fMe * m_eMc);
477  break;
478  }
479  default: {
480  throw(vpException(vpException::fatalError, "Cannot get Franka cartesian position: not implemented"));
481  }
482  }
483 }
484 
491 {
492  if (!m_handler) {
493  throw(vpException(vpException::fatalError, "Cannot get Franka robot eJe jacobian: robot is not connected"));
494  }
495 
496  franka::RobotState robot_state = getRobotInternalState();
497 
498  std::array<double, 42> jacobian = m_model->bodyJacobian(franka::Frame::kEndEffector, robot_state); // column-major
499  eJe_.resize(6, 7); // row-major
500  for (size_t i = 0; i < 6; i ++) {
501  for (size_t j = 0; j < 7; j ++) {
502  eJe_[i][j] = jacobian[j*6 + i];
503  }
504  }
505  // TODO check from vpRobot fJe and fJeAvailable
506 }
507 
515 {
516  if (!m_handler) {
517  throw(vpException(vpException::fatalError, "Cannot get Franka robot eJe jacobian: robot is not connected"));
518  }
519 
520  franka::RobotState robot_state = getRobotInternalState();
521 
522  std::array< double, 7 > q_array;
523  for (size_t i = 0; i < 7; i++)
524  q_array[i] = q[i];
525 
526  std::array<double, 42> jacobian = m_model->bodyJacobian(franka::Frame::kEndEffector, q_array, robot_state.F_T_EE, robot_state.EE_T_K); // column-major
527  eJe_.resize(6, 7); // row-major
528  for (size_t i = 0; i < 6; i ++) {
529  for (size_t j = 0; j < 7; j ++) {
530  eJe_[i][j] = jacobian[j*6 + i];
531  }
532  }
533  // TODO check from vpRobot fJe and fJeAvailable
534 
535 }
536 
543 {
544  if (!m_handler) {
545  throw(vpException(vpException::fatalError, "Cannot get Franka robot fJe jacobian: robot is not connected"));
546  }
547 
548  franka::RobotState robot_state = getRobotInternalState();
549 
550  std::array<double, 42> jacobian = m_model->zeroJacobian(franka::Frame::kEndEffector, robot_state); // column-major
551  fJe_.resize(6, 7); // row-major
552  for (size_t i = 0; i < 6; i ++) {
553  for (size_t j = 0; j < 7; j ++) {
554  fJe_[i][j] = jacobian[j*6 + i];
555  }
556  }
557  // TODO check from vpRobot fJe and fJeAvailable
558 }
559 
567 {
568  if (!m_handler) {
569  throw(vpException(vpException::fatalError, "Cannot get Franka robot fJe jacobian: robot is not connected"));
570  }
571  if (q.size() != 7) {
572  throw(vpException(vpException::fatalError, "Cannot get Franka robot fJe jacobian with an input joint position vector [%u] that is not a 7-dim vector", q.size()));
573  }
574 
575  franka::RobotState robot_state = getRobotInternalState();
576 
577  std::array< double, 7 > q_array;
578  for (size_t i = 0; i < 7; i++)
579  q_array[i] = q[i];
580 
581  std::array<double, 42> jacobian = m_model->zeroJacobian(franka::Frame::kEndEffector, q_array, robot_state.F_T_EE, robot_state.EE_T_K); // column-major
582  fJe_.resize(6, 7); // row-major
583  for (size_t i = 0; i < 6; i ++) {
584  for (size_t j = 0; j < 7; j ++) {
585  fJe_[i][j] = jacobian[j*6 + i];
586  }
587  }
588  // TODO check from vpRobot fJe and fJeAvailable
589 }
590 
600 void vpRobotFranka::setLogFolder(const std::string &folder)
601 {
602  if (!folder.empty()) {
603  if (vpIoTools::checkDirectory(folder) == false) {
604  try {
605  vpIoTools::makeDirectory(folder);
606  m_log_folder = folder;
607  }
608  catch(const vpException &e) {
609  std::string error;
610  error = "Unable to create Franka log folder: " + folder;
611  throw(vpException(vpException::fatalError, error));
612  }
613  }
614  else {
615  m_log_folder = folder;
616  }
617  }
618 }
619 
626 {
627  if (!m_handler) {
628  throw(vpException(vpException::fatalError, "Cannot set Franka robot position: robot is not connected"));
629  }
631  std::cout << "Robot was not in position-based control. "
632  "Modification of the robot state" << std::endl;
634  }
635 
636  if (frame == vpRobot::JOINT_STATE) {
637  double speed_factor = m_positionningVelocity / 100.;
638 
639  std::array<double, 7> q_goal;
640  for (size_t i = 0; i < 7; i++) {
641  q_goal[i] = position[i];
642  }
643 
644  vpJointPosTrajGenerator joint_pos_traj_generator(speed_factor, q_goal);
645 
646  int nbAttempts = 10;
647  for (int attempt = 1; attempt <= nbAttempts; attempt++) {
648  try {
649  m_handler->control(joint_pos_traj_generator);
650  break;
651  } catch (const franka::ControlException &e) {
652  std::cerr << "Warning: communication error: " << e.what() << "\nRetry attempt: " << attempt << std::endl;
653  m_handler->automaticErrorRecovery();
654  if (attempt == nbAttempts)
655  throw;
656  }
657  }
658  }
659  else {
661  "Cannot move the robot to a cartesian position. Only joint positionning is implemented"));
662  }
663 }
664 
674 {
675  m_positionningVelocity = velocity;
676 }
677 
685 {
686  switch (newState) {
687  case vpRobot::STATE_STOP: {
688  // Start primitive STOP only if the current state is velocity or force/torque
690  // Stop the robot
691  m_velControlThreadStopAsked = true;
692  if(m_velControlThread.joinable()) {
693  m_velControlThread.join();
694  m_velControlThreadStopAsked = false;
695  m_velControlThreadIsRunning = false;
696  }
697  }
699  // Stop the robot
700  m_ftControlThreadStopAsked = true;
701  if(m_ftControlThread.joinable()) {
702  m_ftControlThread.join();
703  m_ftControlThreadStopAsked = false;
704  m_ftControlThreadIsRunning = false;
705  }
706  }
707  break;
708  }
711  std::cout << "Change the control mode from velocity to position control.\n";
712  // Stop the robot
713  m_velControlThreadStopAsked = true;
714  if(m_velControlThread.joinable()) {
715  m_velControlThread.join();
716  m_velControlThreadStopAsked = false;
717  m_velControlThreadIsRunning = false;
718  }
719  }
721  std::cout << "Change the control mode from force/torque to position control.\n";
722  // Stop the robot
723  m_ftControlThreadStopAsked = true;
724  if(m_ftControlThread.joinable()) {
725  m_ftControlThread.join();
726  m_ftControlThreadStopAsked = false;
727  m_ftControlThreadIsRunning = false;
728  }
729  }
730  break;
731  }
734  std::cout << "Change the control mode from stop to velocity control.\n";
735  }
737  std::cout << "Change the control mode from position to velocity control.\n";
738  }
740  std::cout << "Change the control mode from force/torque to velocity control.\n";
741  // Stop the robot
742  m_ftControlThreadStopAsked = true;
743  if(m_ftControlThread.joinable()) {
744  m_ftControlThread.join();
745  m_ftControlThreadStopAsked = false;
746  m_ftControlThreadIsRunning = false;
747  }
748  }
749  break;
750  }
753  std::cout << "Change the control mode from stop to force/torque control.\n";
754  }
756  std::cout << "Change the control mode from position to force/torque control.\n";
757  }
759  std::cout << "Change the control mode from velocity to force/torque control.\n";
760  // Stop the robot
761  m_velControlThreadStopAsked = true;
762  if(m_velControlThread.joinable()) {
763  m_velControlThread.join();
764  m_velControlThreadStopAsked = false;
765  m_velControlThreadIsRunning = false;
766  }
767  }
768  break;
769  }
770 
771  default:
772  break;
773  }
774 
775  return vpRobot::setRobotState(newState);
776 }
777 
832 {
835  "Cannot send a velocity to the robot. "
836  "Use setRobotState(vpRobot::STATE_VELOCITY_CONTROL) first.");
837  }
838 
839  switch (frame) {
840  // Saturation in joint space
841  case JOINT_STATE: {
842  if (vel.size() != 7) {
844  "Joint velocity vector (%d) is not of size 7", vel.size());
845  }
846 
847  vpColVector vel_max(7, getMaxRotationVelocity());
848 
849  vpColVector vel_sat = vpRobot::saturateVelocities(vel, vel_max, true);
850 
851  for (size_t i = 0; i < m_dq_des.size(); i++) { // TODO create a function to convert
852  m_dq_des[i] = vel_sat[i];
853  }
854 
855  break;
856  }
857 
858  // Saturation in cartesian space
859  case vpRobot::TOOL_FRAME:
862  if (vel.size() != 6) {
864  "Cartesian velocity vector (%d) is not of size 6", vel.size());
865  }
866  vpColVector vel_max(6);
867 
868  for (unsigned int i = 0; i < 3; i++)
869  vel_max[i] = getMaxTranslationVelocity();
870  for (unsigned int i = 3; i < 6; i++)
871  vel_max[i] = getMaxRotationVelocity();
872 
873  m_v_cart_des = vpRobot::saturateVelocities(vel, vel_max, true);
874 
875  break;
876  }
877 
878  case vpRobot::MIXT_FRAME: {
880  "Velocity controller not supported");
881  }
882  }
883 
884  if(! m_velControlThreadIsRunning) {
885  m_velControlThreadIsRunning = true;
886  m_velControlThread = std::thread(&vpJointVelTrajGenerator::control_thread, vpJointVelTrajGenerator(),
887  std::ref(m_handler), std::ref(m_velControlThreadStopAsked), m_log_folder,
888  frame, m_eMc, std::ref(m_v_cart_des), std::ref(m_dq_des),
889  std::cref(m_q_min), std::cref(m_q_max), std::cref(m_dq_max), std::cref(m_ddq_max),
890  std::ref(m_robot_state), std::ref(m_mutex));
891  }
892 }
893 
894 /*
895  Apply a force/torque to the robot.
896 
897  \param[in] frame : Control frame in which the force/torque is applied.
898 
899  \param[in] ft : Force/torque vector. The size of this vector
900  is always 6 for a cartesian force/torque skew, and 7 for joint torques.
901 
902  \param[in] filter_gain : Value in range [0:1] to filter the force/torque vector \e ft.
903  To diable the filter set filter_gain to 1.
904  \param[in] activate_pi_controller : Activate proportional and integral low level controller.
905  */
907  const double &filter_gain, const bool &activate_pi_controller)
908 {
909  switch (frame) {
910  // Saturation in joint space
911  case JOINT_STATE: {
912  if (ft.size() != 7) {
914  "Joint torques vector (%d) is not of size 7", ft.size());
915  }
916 
917  for (size_t i = 0; i < m_tau_J_des.size(); i++) { // TODO create a function to convert
918  m_tau_J_des[i] = ft[i];
919  }
920  // TODO: Introduce force/torque saturation
921 
922  break;
923  }
924 
925  // Saturation in cartesian space
926  case vpRobot::TOOL_FRAME:
929  if (ft.size() != 6) {
931  "Cartesian force/torque vector (%d) is not of size 6", ft.size());
932  }
933 
934  m_ft_cart_des = ft;
935  // TODO: Introduce force/torque saturation
936 
937  break;
938  }
939 
940  case vpRobot::MIXT_FRAME: {
942  "Velocity controller not supported");
943  }
944  }
945 
946  if(! m_ftControlThreadIsRunning) {
947  getRobotInternalState(); // Update m_robot_state internally
948  m_ftControlThreadIsRunning = true;
949  m_ftControlThread = std::thread(&vpForceTorqueGenerator::control_thread, vpForceTorqueGenerator(),
950  std::ref(m_handler), std::ref(m_ftControlThreadStopAsked), m_log_folder,
951  frame, std::ref(m_tau_J_des), std::ref(m_ft_cart_des), std::ref(m_robot_state),
952  std::ref(m_mutex), filter_gain, activate_pi_controller);
953  }
954 }
955 
957 {
958  if (!m_handler) {
959  throw(vpException(vpException::fatalError, "Cannot get Franka robot state: robot is not connected"));
960  }
961  franka::RobotState robot_state;
962 
963  if (! m_velControlThreadIsRunning && ! m_ftControlThreadIsRunning) {
964  robot_state = m_handler->readOnce();
965 
966  std::lock_guard<std::mutex> lock(m_mutex);
967  m_robot_state = robot_state;
968  }
969  else { // robot_state is updated in the velocity control thread
970  std::lock_guard<std::mutex> lock(m_mutex);
971  robot_state = m_robot_state;
972  }
973 
974  return robot_state;
975 }
976 
983 {
984  vpColVector q_min(m_q_min.size());
985  for (size_t i = 0; i < m_q_min.size(); i ++)
986  q_min[i] = m_q_min[i];
987 
988  return q_min;
989 }
996 {
997  vpColVector q_max(m_q_max.size());
998  for (size_t i = 0; i < m_q_max.size(); i ++)
999  q_max[i] = m_q_max[i];
1000 
1001  return q_max;
1002 }
1003 
1015 {
1016  return m_eMc;
1017 }
1018 
1032 {
1033  m_eMc = eMc;
1034 }
1035 
1045 void vpRobotFranka::move(const std::string &filename, double velocity_percentage)
1046 {
1047  vpColVector q;
1048 
1049  this->readPosFile(filename, q);
1051  this->setPositioningVelocity(velocity_percentage);
1053 }
1054 
1099 bool vpRobotFranka::readPosFile(const std::string &filename, vpColVector &q)
1100 {
1101  std::ifstream fd(filename.c_str(), std::ios::in);
1102 
1103  if (!fd.is_open()) {
1104  return false;
1105  }
1106 
1107  std::string line;
1108  std::string key("R:");
1109  std::string id("#PANDA - Joint position file");
1110  bool pos_found = false;
1111  int lineNum = 0;
1112  size_t njoints = 7;
1113 
1114  q.resize(njoints);
1115 
1116  while (std::getline(fd, line)) {
1117  lineNum++;
1118  if (lineNum == 1) {
1119  if (!(line.compare(0, id.size(), id) == 0)) { // check if Afma6 position file
1120  std::cout << "Error: this position file " << filename << " is not for Afma6 robot" << std::endl;
1121  return false;
1122  }
1123  }
1124  if ((line.compare(0, 1, "#") == 0)) { // skip comment
1125  continue;
1126  }
1127  if ((line.compare(0, key.size(), key) == 0)) { // decode position
1128  // check if there are at least njoint values in the line
1129  std::vector<std::string> chain = vpIoTools::splitChain(line, std::string(" "));
1130  if (chain.size() < njoints + 1) // try to split with tab separator
1131  chain = vpIoTools::splitChain(line, std::string("\t"));
1132  if (chain.size() < njoints + 1)
1133  continue;
1134 
1135  std::istringstream ss(line);
1136  std::string key_;
1137  ss >> key_;
1138  for (unsigned int i = 0; i < njoints; i++)
1139  ss >> q[i];
1140  pos_found = true;
1141  break;
1142  }
1143  }
1144 
1145  // converts rotations from degrees into radians
1146  for (unsigned int i = 0; i < njoints; i++) {
1147  q[i] = vpMath::rad(q[i]);
1148  }
1149 
1150  fd.close();
1151 
1152  if (!pos_found) {
1153  std::cout << "Error: unable to find a position for Panda robot in " << filename << std::endl;
1154  return false;
1155  }
1156 
1157  return true;
1158 }
1159 
1182 bool vpRobotFranka::savePosFile(const std::string &filename, const vpColVector &q)
1183 {
1184 
1185  FILE *fd;
1186  fd = fopen(filename.c_str(), "w");
1187  if (fd == NULL)
1188  return false;
1189 
1190  fprintf(fd,
1191  "#PANDA - Joint position file\n"
1192  "#\n"
1193  "# R: q1 q2 q3 q4 q5 q6 q7\n"
1194  "# with joint positions q1 to q7 expressed in degrees\n"
1195  "#\n");
1196 
1197  // Save positions in mm and deg
1198  fprintf(fd, "R: %lf %lf %lf %lf %lf %lf %lf\n", vpMath::deg(q[0]), vpMath::deg(q[1]), vpMath::deg(q[2]),
1199  vpMath::deg(q[3]), vpMath::deg(q[4]), vpMath::deg(q[5]), vpMath::deg(q[6]));
1200 
1201  fclose(fd);
1202  return (true);
1203 }
1204 
1213 {
1215  vpColVector q(7, 0);
1217  }
1219 }
1220 
1228 {
1229  if (m_franka_address.empty()) {
1230  throw (vpException(vpException::fatalError, "Cannot perform franka gripper homing without ip address"));
1231  }
1232  if (m_gripper == NULL)
1233  m_gripper = new franka::Gripper(m_franka_address);
1234 
1235  m_gripper->homing();
1236 }
1237 
1248 {
1249  if (m_franka_address.empty()) {
1250  throw (vpException(vpException::fatalError, "Cannot open franka gripper without ip address"));
1251  }
1252  if (m_gripper == NULL)
1253  m_gripper = new franka::Gripper(m_franka_address);
1254 
1255  // Check for the maximum grasping width.
1256  franka::GripperState gripper_state = m_gripper->readOnce();
1257 
1258  if (gripper_state.max_width < width) {
1259  std::cout << "Finger width request is too large for the current fingers on the gripper."
1260  << "Maximum possible width is " << gripper_state.max_width << std::endl;
1261  return EXIT_FAILURE;
1262  }
1263 
1264  m_gripper->move(width, 0.1);
1265  return EXIT_SUCCESS;
1266 }
1267 
1277 {
1278  return gripperMove(0);
1279 }
1280 
1290 {
1291  if (m_franka_address.empty()) {
1292  throw (vpException(vpException::fatalError, "Cannot open franka gripper without ip address"));
1293  }
1294  if (m_gripper == NULL)
1295  m_gripper = new franka::Gripper(m_franka_address);
1296 
1297  // Check for the maximum grasping width.
1298  franka::GripperState gripper_state = m_gripper->readOnce();
1299 
1300  m_gripper->move(gripper_state.max_width, 0.1);
1301  return EXIT_SUCCESS;
1302 }
1303 
1311 {
1312  if (m_franka_address.empty()) {
1313  throw (vpException(vpException::fatalError, "Cannot release franka gripper without ip address"));
1314  }
1315  if (m_gripper == NULL)
1316  m_gripper = new franka::Gripper(m_franka_address);
1317 
1318  m_gripper->stop();
1319 }
1320 
1335 int vpRobotFranka::gripperGrasp(double grasping_width, double force)
1336 {
1337  if (m_gripper == NULL)
1338  m_gripper = new franka::Gripper(m_franka_address);
1339 
1340  // Check for the maximum grasping width.
1341  franka::GripperState gripper_state = m_gripper->readOnce();
1342  std::cout << "Gripper max witdh: " << gripper_state.max_width << std::endl;
1343  if (gripper_state.max_width < grasping_width) {
1344  std::cout << "Object is too large for the current fingers on the gripper."
1345  << "Maximum possible width is " << gripper_state.max_width << std::endl;
1346  return EXIT_FAILURE;
1347  }
1348 
1349  // Grasp the object.
1350  if (!m_gripper->grasp(grasping_width, 0.1, force)) {
1351  std::cout << "Failed to grasp object." << std::endl;
1352  return EXIT_FAILURE;
1353  }
1354 
1355  return EXIT_SUCCESS;
1356 }
1357 
1358 #elif !defined(VISP_BUILD_SHARED_LIBS)
1359 // Work arround to avoid warning: libvisp_robot.a(vpRobotFranka.cpp.o) has
1360 // no symbols
1361 void dummy_vpRobotFranka(){};
1362 #endif
1363 
int gripperMove(double width)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:482
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:304
Error that can be emited by the vpRobot class and its derivates.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void getCoriolis(vpColVector &coriolis)
Implementation of an homogeneous matrix and operations on such kind of matrices.
bool savePosFile(const std::string &filename, const vpColVector &q)
virtual ~vpRobotFranka()
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &d_position)
double getMaxTranslationVelocity(void) const
Definition: vpRobot.cpp:251
vpHomogeneousMatrix get_fMe(const vpColVector &q)
void getGravity(vpColVector &gravity)
Initialize the position controller.
Definition: vpRobot.h:67
error that can be emited by ViSP classes.
Definition: vpException.h:71
void setPositioningVelocity(double velocity)
vpHomogeneousMatrix inverse() const
franka::RobotState getRobotInternalState()
Class that defines a generic virtual robot.
Definition: vpRobot.h:58
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition: vpRobot.cpp:163
vpControlFrameType
Definition: vpRobot.h:75
vpHomogeneousMatrix get_eMc() const
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
void getForceTorque(const vpRobot::vpControlFrameType frame, vpColVector &force)
double getMaxRotationVelocity(void) const
Definition: vpRobot.cpp:273
void setLogFolder(const std::string &folder)
int gripperGrasp(double grasping_width, double force=60.)
void getMass(vpMatrix &mass)
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:332
void set_eMc(const vpHomogeneousMatrix &eMc)
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:144
vpRobotStateType
Definition: vpRobot.h:64
bool readPosFile(const std::string &filename, vpColVector &q)
vpPoseVector buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz)
static std::vector< std::string > splitChain(const std::string &chain, const std::string &sep)
Definition: vpIoTools.cpp:1676
void get_eJe(vpMatrix &eJe)
static double rad(double deg)
Definition: vpMath.h:110
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:65
void get_fJe(vpMatrix &fJe)
int nDof
number of degrees of freedom
Definition: vpRobot.h:102
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
static double deg(double rad)
Definition: vpMath.h:103
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
vpHomogeneousMatrix get_fMc(const vpColVector &q)
void move(const std::string &filename, double velocity_percentage=10.)
Initialize the force/torque controller.
Definition: vpRobot.h:69
void connect(const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)
void setForceTorque(const vpRobot::vpControlFrameType frame, const vpColVector &ft, const double &filter_gain=0.1, const bool &activate_pi_controller=false)
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position)
Function not implemented.
Definition: vpException.h:90
vpColVector getJointMax() const
vpColVector getJointMin() const