use franka::{CartesianPose, FrankaResult, MotionFinished, Robot, RobotState};
use std::f64::consts::PI;
use std::time::Duration;
use structopt::StructOpt;
#[derive(StructOpt, Debug)]
#[structopt(name = "generate_elbow_motion")]
struct CommandLineArguments {
#[structopt()]
pub franka_ip: String,
}
fn main() -> FrankaResult<()> {
let address = CommandLineArguments::from_args();
let mut robot = Robot::new(address.franka_ip.as_str(), None, None)?;
robot.set_default_behavior()?;
println!("WARNING: This example will move the robot! Please make sure to have the user stop button at hand!");
println!("Press Enter to continue...");
std::io::stdin().read_line(&mut String::new()).unwrap();
robot.set_collision_behavior(
[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],
[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],
[20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
[20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
[20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
[20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
)?;
let q_goal = [0., -PI / 4., 0., -3. * PI / 4., 0., PI / 2., PI / 4.];
robot.joint_motion(0.5, &q_goal)?;
println!("Finished moving to initial joint configuration.");
let mut initial_pose = [0.; 16];
let mut initial_elbow = [0.; 2];
let mut time = 0.;
let callback = |state: &RobotState, time_step: &Duration| -> CartesianPose {
time += time_step.as_secs_f64();
if time == 0. {
initial_pose = state.O_T_EE_c;
initial_elbow = state.elbow_c;
}
let angle = PI / 10. * (1. - f64::cos(PI / 5. * time));
let mut elbow = initial_elbow;
elbow[0] += angle;
let out = CartesianPose::new(initial_pose, Some(elbow));
if time >= 10.0 {
println!("Finished motion, shutting down example");
return out.motion_finished();
}
out
};
robot.control_cartesian_pose(callback, None, None, None)
}