use franka::FrankaResult;
use franka::Robot;
use franka::RobotState;
use franka::{JointVelocities, MotionFinished};
use std::f64::consts::PI;
use std::time::Duration;
use structopt::StructOpt;
#[derive(StructOpt, Debug)]
#[structopt(name = "generate_joint_velocity_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 time = 0.;
let omega_max = 1.0;
let time_max = 1.0;
let callback = move |_state: &RobotState, time_step: &Duration| -> JointVelocities {
time += time_step.as_secs_f64();
let cycle = f64::floor(f64::powf(
-1.0,
(time - float_extras::f64::fmod(time, time_max)) / time_max,
));
let omega = cycle * omega_max / 2. * (1. - f64::cos(2. * PI / time_max * time));
let out = JointVelocities::new([0., 0., 0., omega, omega, omega, omega]);
if time >= 2. * time_max {
println!("Finished motion, shutting down example");
return out.motion_finished();
}
out
};
robot.control_joint_velocities(callback, None, None, None)
}