Added a new interface class to handle the franka hand

2023-07-11 08:37:41 +09:00
parent ce9d2c8fe8
commit 87024fb996
4 changed files with 190 additions and 1 deletions
--- a/include/robot_interface_hand.h
+++ b/include/robot_interface_hand.h
@@ -0,0 +1,78 @@
+/*
+# Copyright (c) 2023 Juan Jose Quiroz Omana
+#
+#    This file is part of sas_robot_driver_franka.
+#
+#    sas_robot_driver_franka is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_robot_driver_franka is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
+#
+# ################################################################
+#
+# Contributors:
+#      1. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
+#         - Original implementation
+#
+# ################################################################
+*/
+
+
+#pragma once
+
+#include <dqrobotics/DQ.h>
+#include <memory.h>
+#include <tuple>
+#include <exception>
+#include <vector>
+#include <franka/robot.h>
+#include <franka/gripper.h>
+#include <franka/exception.h>
+#include <thread>
+#include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
+#include <atomic>
+
+using namespace DQ_robotics;
+using namespace Eigen;
+
+
+
+class RobotInterfaceHand
+{
+protected:
+    double speed_gripper_ = 0.02;
+    std::string ip_ = "172.16.0.2";
+    std::shared_ptr<franka::Gripper> gripper_sptr_;
+    void _check_if_hand_is_connected();
+public:
+    enum GRIPPER_MODE_STATES{WIDTH=0, MAX_WIDTH=1};
+    RobotInterfaceHand() = delete;
+    RobotInterfaceHand(const RobotInterfaceHand&) = delete;
+    RobotInterfaceHand& operator= (const RobotInterfaceHand&) = delete;
+    RobotInterfaceHand(const std::string &ROBOT_IP);
+
+    double read_gripper(const GRIPPER_MODE_STATES& gripper_state = WIDTH);
+    bool read_grasped_status();
+    void set_gripper(const double& width);
+    void gripper_homing();
+    bool grasp_object(const double& width,
+                      const double& speed,
+                      const double& force,
+                      double 	epsilon_inner = 0.005,
+                      double 	epsilon_outer = 0.005);
+    void release_object();
+    VectorXd get_home_robot_configuration();
+};
+