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Improve Franka Panda robot examples #1513

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merged 4 commits into from
Dec 4, 2024
Merged

Improve Franka Panda robot examples #1513

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a08f929
Improve franka gripper tool
fspindle Nov 28, 2024
f9d886d
Fix command line options management
fspindle Nov 28, 2024
6773825
Modify franka destructor to be able to continue applying a force on t…
fspindle Dec 2, 2024
55e401a
Clean and improve helper messages
fspindle Dec 2, 2024
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17 changes: 10 additions & 7 deletions example/servo-franka/frankaGripper.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ int main(int argc, char **argv)

for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
++ i;
++i;
opt_robot_ip = std::string(argv[i]);
}
else if (std::string(argv[i]) == "--home") {
Expand All @@ -80,34 +80,37 @@ int main(int argc, char **argv)
else if (std::string(argv[i]) == "--close") {
opt_gripper_state = Gripper_Close;
}
else if (std::string(argv[i]) == "--release") {
opt_gripper_state = Gripper_Release;
}
else if (std::string(argv[i]) == "--grasp" && i + 1 < argc) {
++ i;
++i;
opt_gripper_state = Gripper_Grasp;
opt_grasping_width = std::atof(argv[i]);
}
else if (std::string(argv[i]) == "--grasp-speed" && i + 1 < argc) {
++ i;
++i;
opt_grasping_speed = std::atof(argv[i]);
}
else if (std::string(argv[i]) == "--grasp-force" && i + 1 < argc) {
++ i;
++i;
opt_grasping_force = std::atof(argv[i]);
}
else if (std::string(argv[i]) == "--test" && i + 1 < argc) {
++ i;
++i;
opt_gripper_state = Gripper_Test;
opt_grasping_width = std::atof(argv[i]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "SYNOPSYS" << std::endl
<< " " << argv[0]
<< " [--ip <default " << opt_robot_ip << ">]"
<< " [--ip <controller ip>]"
<< " [--home]"
<< " [--open]"
<< " [--close]"
<< " [--grasp <width>]"
<< " [--grasp-speed <speed>]"
<< " [--grasp-force <speed>]"
<< " [--grasp-force <force>]"
<< " [--release]"
<< " [--test <width>]"
<< " [--help] [-h]\n" << std::endl;
Expand Down
88 changes: 67 additions & 21 deletions example/servo-franka/servoFrankaIBVS.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,40 +116,89 @@ int main(int argc, char **argv)
double convergence_threshold = 0.00005;

for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
if ((std::string(argv[i]) == "--tag-size") && (i + 1 < argc)) {
opt_tagSize = std::stod(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--ip") && (i + 1 < argc)) {
opt_robot_ip = std::string(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--eMc" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--eMc") && (i + 1 < argc)) {
opt_eMc_filename = std::string(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--verbose") {
opt_verbose = true;
}
else if (std::string(argv[i]) == "--plot") {
opt_plot = true;
}
else if (std::string(argv[i]) == "--adaptive_gain") {
else if (std::string(argv[i]) == "--adaptive-gain") {
opt_adaptive_gain = true;
}
else if (std::string(argv[i]) == "--task_sequencing") {
else if (std::string(argv[i]) == "--task-sequencing") {
opt_task_sequencing = true;
}
else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--quad-decimate") && (i + 1 < argc)) {
opt_quad_decimate = std::stoi(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--no-convergence-threshold") {
convergence_threshold = 0.;
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout
<< argv[0] << " [--ip <default " << opt_robot_ip << ">] [--tag_size <marker size in meter; default "
<< opt_tagSize << ">] [--eMc <eMc extrinsic file>] "
<< "[--quad_decimate <decimation; default " << opt_quad_decimate
<< ">] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
<< "\n";
else if ((std::string(argv[i]) == "--help") || (std::string(argv[i]) == "-h")) {
std::cout << "SYNOPSYS" << std::endl
<< " " << argv[0]
<< " [--ip <controller ip>]"
<< " [--tag-size <size>]"
<< " [--eMc <extrinsic transformation file>]"
<< " [--quad-decimate <decimation factor>]"
<< " [--adaptive-gain]"
<< " [--plot]"
<< " [--task-sequencing]"
<< " [--no-convergence-threshold]"
<< " [--verbose]"
<< " [--help] [-h]\n"
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " Use an image-based visual-servoing scheme to position the camera in front of an Apriltag." << std::endl
<< std::endl
<< " --ip <controller ip>" << std::endl
<< " Franka controller ip address" << std::endl
<< " Default: " << opt_robot_ip << std::endl
<< std::endl
<< " --tag-size <size>" << std::endl
<< " Apriltag size in [m]." << std::endl
<< " Default: " << opt_tagSize << " [m]" << std::endl
<< std::endl
<< " --eMc <extrinsic transformation file>" << std::endl
<< " File containing the homogeneous transformation matrix between" << std::endl
<< " robot end-effector and camera frame." << std::endl
<< std::endl
<< " --quad-decimate <decimation factor>" << std::endl
<< " Decimation factor used during Apriltag detection." << std::endl
<< " Default: " << opt_quad_decimate << std::endl
<< std::endl
<< " --adaptive-gain" << std::endl
<< " Flag to enable adaptive gain to speed up visual servo near convergence." << std::endl
<< std::endl
<< " --plot" << std::endl
<< " Flag to enable curve plotter." << std::endl
<< std::endl
<< " --task-sequencing" << std::endl
<< " Flag to enable task sequencing scheme." << std::endl
<< std::endl
<< " --no-convergence-threshold" << std::endl
<< " Flag to disable convergence threshold used to stop the visual servo." << std::endl
<< std::endl
<< " --verbose" << std::endl
<< " Flag to enable extra verbosity." << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;

return EXIT_SUCCESS;
}
}
Expand Down Expand Up @@ -182,16 +231,14 @@ int main(int argc, char **argv)
ePc.loadYAML(opt_eMc_filename, ePc);
}
else {
std::cout << "Warning, opt_eMc_filename is empty! Use hard coded values."
<< "\n";
std::cout << "Warning, opt_eMc_filename is empty! Use hard coded values." << std::endl;
}
vpHomogeneousMatrix eMc(ePc);
std::cout << "eMc:\n" << eMc << "\n";
std::cout << "eMc:\n" << eMc << std::endl;

// Get camera intrinsics
vpCameraParameters cam =
rs.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
std::cout << "cam:\n" << cam << "\n";
vpCameraParameters cam = rs.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
std::cout << "cam:\n" << cam << std::endl;

vpImage<unsigned char> I(height, width);

Expand Down Expand Up @@ -394,8 +441,7 @@ int main(int argc, char **argv)

if (error < convergence_threshold) {
has_converged = true;
std::cout << "Servo task has converged"
<< "\n";
std::cout << "Servo task has converged" << std::endl;
vpDisplay::displayText(I, 100, 20, "Servo task has converged", vpColor::red);
}
if (first_time) {
Expand Down
80 changes: 63 additions & 17 deletions example/servo-franka/servoFrankaPBVS.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -114,14 +114,17 @@ int main(int argc, char **argv)
double convergence_threshold_tu = 0.5; // Value in [deg]

for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
if ((std::string(argv[i]) == "--tag_size") && (i + 1 < argc)) {
opt_tagSize = std::stod(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--ip") && (i + 1 < argc)) {
opt_robot_ip = std::string(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--eMc" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--eMc") && (i + 1 < argc)) {
opt_eMc_filename = std::string(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--verbose") {
opt_verbose = true;
Expand All @@ -135,20 +138,65 @@ int main(int argc, char **argv)
else if (std::string(argv[i]) == "--task_sequencing") {
opt_task_sequencing = true;
}
else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--quad_decimate") && (i + 1 < argc)) {
opt_quad_decimate = std::stoi(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--no-convergence-threshold") {
convergence_threshold_t = 0.;
convergence_threshold_tu = 0.;
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout
<< argv[0] << " [--ip <default " << opt_robot_ip << ">] [--tag_size <marker size in meter; default "
<< opt_tagSize << ">] [--eMc <eMc extrinsic file>] "
<< "[--quad_decimate <decimation; default " << opt_quad_decimate
<< ">] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
<< "\n";
else if ((std::string(argv[i]) == "--help") || (std::string(argv[i]) == "-h")) {
std::cout << "SYNOPSYS" << std::endl
<< " " << argv[0]
<< " [--ip <controller ip>]"
<< " [--tag-size <size>]"
<< " [--eMc <extrinsic transformation file>]"
<< " [--quad-decimate <decimation factor>]"
<< " [--adaptive-gain]"
<< " [--plot]"
<< " [--task-sequencing]"
<< " [--no-convergence-threshold]"
<< " [--verbose]"
<< " [--help] [-h]\n"
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " Use a position-based visual-servoing scheme to position the camera in front of an Apriltag." << std::endl
<< std::endl
<< " --ip <controller ip>" << std::endl
<< " Franka controller ip address" << std::endl
<< " Default: " << opt_robot_ip << std::endl
<< std::endl
<< " --tag-size <size>" << std::endl
<< " Apriltag size in [m]." << std::endl
<< " Default: " << opt_tagSize << " [m]" << std::endl
<< std::endl
<< " --eMc <extrinsic transformation file>" << std::endl
<< " File containing the homogeneous transformation matrix between" << std::endl
<< " robot end-effector and camera frame." << std::endl
<< std::endl
<< " --quad-decimate <decimation factor>" << std::endl
<< " Decimation factor used during Apriltag detection." << std::endl
<< " Default: " << opt_quad_decimate << std::endl
<< std::endl
<< " --adaptive-gain" << std::endl
<< " Flag to enable adaptive gain to speed up visual servo near convergence." << std::endl
<< std::endl
<< " --plot" << std::endl
<< " Flag to enable curve plotter." << std::endl
<< std::endl
<< " --task-sequencing" << std::endl
<< " Flag to enable task sequencing scheme." << std::endl
<< std::endl
<< " --no-convergence-threshold" << std::endl
<< " Flag to disable convergence threshold used to stop the visual servo." << std::endl
<< std::endl
<< " --verbose" << std::endl
<< " Flag to enable extra verbosity." << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
return EXIT_SUCCESS;
}
}
Expand Down Expand Up @@ -181,16 +229,14 @@ int main(int argc, char **argv)
ePc.loadYAML(opt_eMc_filename, ePc);
}
else {
std::cout << "Warning, opt_eMc_filename is empty! Use hard coded values."
<< "\n";
std::cout << "Warning, opt_eMc_filename is empty! Use hard coded values." << std::endl;
}
vpHomogeneousMatrix eMc(ePc);
std::cout << "eMc:\n" << eMc << "\n";
std::cout << "eMc:\n" << eMc << std::endl;

// Get camera intrinsics
vpCameraParameters cam =
rs.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
std::cout << "cam:\n" << cam << "\n";
vpCameraParameters cam = rs.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
std::cout << "cam:\n" << cam << std::endl;

vpImage<unsigned char> I(height, width);

Expand Down
2 changes: 0 additions & 2 deletions modules/robot/src/real-robot/franka/vpRobotFranka.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -104,8 +104,6 @@ vpRobotFranka::~vpRobotFranka()
delete m_handler;

if (m_gripper) {
std::cout << "Grasped object, will release it now." << std::endl;
m_gripper->stop();
delete m_gripper;
}

Expand Down
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