5 #include <visp3/core/vpConfig.h> 7 #ifdef VISP_HAVE_FRANKA 13 #include <franka/exception.h> 14 #include <franka/gripper.h> 25 int main(
int argc,
char **argv)
28 std::cerr <<
"Usage: ./grasp_object <gripper-hostname> <homing> <object-width>" << std::endl;
33 franka::Gripper gripper(argv[1]);
34 double grasping_width = std::stod(argv[3]);
36 std::stringstream ss(argv[2]);
38 if (!(ss >> homing)) {
39 std::cerr <<
"<homing> can be 0 or 1." << std::endl;
50 franka::GripperState gripper_state = gripper.readOnce();
51 if (gripper_state.max_width < grasping_width) {
52 std::cout <<
"Object is too large for the current fingers on the gripper." << std::endl;
57 if (!gripper.grasp(grasping_width, 0.1, 300)) {
58 std::cout <<
"Failed to grasp object." << std::endl;
63 std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(3000));
65 gripper_state = gripper.readOnce();
66 if (!gripper_state.is_grasped) {
67 std::cout <<
"Object lost." << std::endl;
71 std::cout <<
"Grasped object, will release it now." << std::endl;
73 }
catch (franka::Exception
const &e) {
74 std::cout << e.what() << std::endl;
82 int main() { std::cout <<
"This example needs libfranka to control Panda robot." << std::endl; }