6 #include <visp3/core/vpConfig.h> 8 #ifdef VISP_HAVE_FRANKA 10 #include <franka/exception.h> 11 #include <franka/robot.h> 25 int main(
int argc,
char **argv)
28 std::cerr <<
"Usage: ./generate_joint_position_motion <robot-hostname>" << std::endl;
33 franka::Robot robot(argv[1]);
37 robot.setCollisionBehavior(
38 {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
39 {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
40 {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
41 {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
43 auto initial_position = robot.readOnce().q_d;
45 robot.control([=, &time](
const franka::RobotState &, franka::Duration time_step) -> franka::JointPositions {
46 time += time_step.toSec();
48 double delta_angle = M_PI / 8 * (1 - std::cos(M_PI / 5.0 * time));
50 franka::JointPositions output = {{initial_position[0], initial_position[1], initial_position[2],
51 initial_position[3] + delta_angle, initial_position[4] + delta_angle,
52 initial_position[5], initial_position[6] + delta_angle}};
55 std::cout << std::endl <<
"Finished motion, shutting down example" << std::endl;
56 return franka::MotionFinished(output);
60 }
catch (
const franka::Exception &e) {
61 std::cout << e.what() << std::endl;
69 int main() { std::cout <<
"This example needs libfranka to control Panda robot." << std::endl; }