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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,214 @@ | ||
| /** | ||
| * @file high_transparency_teleop.cpp | ||
| * @copyright Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved. | ||
| */ | ||
|
|
||
| // Flexiv | ||
| #include <atomic> | ||
| #include <chrono> | ||
| #include <spdlog/spdlog.h> | ||
| #include <flexiv/tdk/transparent_cartesian_teleop_lan.hpp> | ||
| #include <flexiv/tdk/data.hpp> | ||
| #include <getopt.h> | ||
| #include <iostream> | ||
| #include <thread> | ||
| namespace { | ||
| std::vector<double> kPreferredJntPos | ||
| = {60 * M_PI / 180.0, -60 * M_PI / 180.0, -85 * M_PI / 180.0, 115 * M_PI / 180.0, | ||
| 70 * M_PI / 180.0, 0 * M_PI / 180.0, 0 * M_PI / 180.0}; ///< Preferred joint position | ||
| std::vector<double> kHomeJntPos | ||
| = {0 * M_PI / 180.0, -40 * M_PI / 180.0, 0 * M_PI / 180.0, 90 * M_PI / 180.0, 0 * M_PI / 180.0, | ||
| 40 * M_PI / 180.0, 0 * M_PI / 180.0}; ///< Preferred joint position | ||
|
|
||
| const std::array<double, flexiv::tdk::kCartDoF> kDefaultMaxContactWrench | ||
| = {5.0, 5.0, 5.0, 40.0, 40.0, 40.0}; ///< Maximum contact wrench | ||
|
|
||
| std::atomic<bool> g_stop_sched = {false}; ///< Atomic signal to stop scheduler tasks | ||
| } // namespace | ||
|
|
||
| void printHelp() | ||
| { | ||
| // clang-format off | ||
| spdlog::error("Invalid program arguments"); | ||
| spdlog::info(" -l [necessary] serial number of local robot."); | ||
| spdlog::info(" -r [necessary] serial number of remote robot."); | ||
| spdlog::info("Usage: ./cart_teleop -l Rizon4s-123456 -r Rizon4s-654321 "); | ||
| // clang-format on | ||
| } | ||
|
|
||
| struct option kLongOptions[] = { | ||
| // clang-format off | ||
| {"local SN", required_argument, 0, 'l'}, | ||
| {"remote SN", required_argument, 0, 'r'}, | ||
| {0, 0, 0, 0 } | ||
| // clang-format on | ||
| }; | ||
|
|
||
| /** | ||
| * @brief function for test | ||
| */ | ||
| void ConsoleTask(flexiv::tdk::TransparentCartesianTeleopLAN& teleop) | ||
| { | ||
| unsigned int index = 0; | ||
| flexiv::tdk::AxisLock cmd; | ||
| teleop.GetAxisLockState(index, cmd); | ||
|
|
||
| while (!teleop.any_fault()) { | ||
|
|
||
| std::string userInput; | ||
| std::getline(std::cin, userInput); | ||
|
|
||
| switch (userInput[0]) { | ||
| case 'x': | ||
| cmd.lock_trans_axis[0] = !cmd.lock_trans_axis[0]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_WORLD; | ||
| break; | ||
| case 'y': | ||
| cmd.lock_trans_axis[1] = !cmd.lock_trans_axis[1]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_WORLD; | ||
| break; | ||
| case 'z': | ||
| cmd.lock_trans_axis[2] = !cmd.lock_trans_axis[2]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_WORLD; | ||
| break; | ||
| case 'q': | ||
| cmd.lock_ori_axis[0] = !cmd.lock_ori_axis[0]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_WORLD; | ||
| break; | ||
| case 'w': | ||
| cmd.lock_ori_axis[1] = !cmd.lock_ori_axis[1]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_WORLD; | ||
| break; | ||
| case 'e': | ||
| cmd.lock_ori_axis[2] = !cmd.lock_ori_axis[2]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_WORLD; | ||
| break; | ||
|
|
||
| case 'X': | ||
| cmd.lock_trans_axis[0] = !cmd.lock_trans_axis[0]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_TCP; | ||
| break; | ||
| case 'Y': | ||
| cmd.lock_trans_axis[1] = !cmd.lock_trans_axis[1]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_TCP; | ||
| break; | ||
| case 'Z': | ||
| cmd.lock_trans_axis[2] = !cmd.lock_trans_axis[2]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_TCP; | ||
| break; | ||
| case 'Q': | ||
| cmd.lock_ori_axis[0] = !cmd.lock_ori_axis[0]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_TCP; | ||
| break; | ||
| case 'W': | ||
| cmd.lock_ori_axis[1] = !cmd.lock_ori_axis[1]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_TCP; | ||
| break; | ||
| case 'E': | ||
| cmd.lock_ori_axis[2] = !cmd.lock_ori_axis[2]; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_TCP; | ||
| break; | ||
| case 'r': | ||
| teleop.Engage(index, true); | ||
| break; | ||
| case 'R': | ||
| teleop.Engage(index, false); | ||
| break; | ||
| case 's': | ||
| cmd.lock_ori_axis = {false, false, false}; | ||
| cmd.lock_trans_axis = {false, false, false}; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_TCP; | ||
| break; | ||
| case 'S': | ||
| cmd.lock_ori_axis = {true, true, true}; | ||
| cmd.lock_trans_axis = {true, true, true}; | ||
| cmd.coord = flexiv::tdk::CoordType::COORD_TCP; | ||
| break; | ||
| case 't': | ||
| teleop.SetRepulsiveForce(index, {5, 0, 0}); | ||
| break; | ||
| case 'T': | ||
| teleop.SetWrenchFeedbackScalingFactor(index, 1.5); | ||
| break; | ||
| case 'i': | ||
| teleop.SetLocalNullSpacePosture(index, kPreferredJntPos); | ||
| break; | ||
| case 'I': | ||
| teleop.SetLocalNullSpacePosture(index, kHomeJntPos); | ||
| break; | ||
| case 'o': | ||
| teleop.SetRemoteNullSpacePosture(index, kPreferredJntPos); | ||
| break; | ||
| case 'O': | ||
| teleop.SetRemoteNullSpacePosture(index, kHomeJntPos); | ||
| break; | ||
| case 'p': | ||
| teleop.SetRemoteMaxContactWrench(index, kDefaultMaxContactWrench); | ||
| break; | ||
| case 'L': | ||
| teleop.robot_states(0); | ||
| break; | ||
| case 'k': | ||
| teleop.digital_inputs(0); | ||
| break; | ||
|
|
||
| default: | ||
| spdlog::warn("Invalid command!"); | ||
| break; | ||
| } | ||
| teleop.SetAxisLockCmd(index, cmd); | ||
| } | ||
| return; | ||
| } | ||
|
|
||
| int main(int argc, char* argv[]) | ||
| { | ||
| std::string remote_sn; | ||
| std::string local_sn; | ||
| int opt = 0; | ||
| int longIndex = 0; | ||
| while ((opt = getopt_long_only(argc, argv, "", kLongOptions, &longIndex)) != -1) { | ||
| switch (opt) { | ||
| case 'r': | ||
| remote_sn = std::string(optarg); | ||
| break; | ||
| case 'l': | ||
| local_sn = std::string(optarg); | ||
| break; | ||
| default: | ||
| printHelp(); | ||
| return 1; | ||
| } | ||
| } | ||
| if (local_sn.empty() || remote_sn.empty()) { | ||
| printHelp(); | ||
| return 1; | ||
| } | ||
|
|
||
| try { | ||
|
|
||
| // Allocate tdk object | ||
| flexiv::tdk::TransparentCartesianTeleopLAN htt({{local_sn, remote_sn}}); | ||
|
|
||
| // Init high transparency teleop | ||
| htt.Init(); | ||
|
|
||
| // Start high transparency teleop | ||
| htt.Start(); | ||
|
|
||
| // Helper thread | ||
| std::thread helper_thread(std::bind(ConsoleTask, std::ref(htt))); | ||
|
|
||
| // Block main with helper thead | ||
| helper_thread.join(); | ||
|
|
||
| // Exit high transparency teleop | ||
| htt.Stop(); | ||
|
|
||
| } catch (const std::exception& e) { | ||
| spdlog::error(e.what()); | ||
| return 1; | ||
| } | ||
|
|
||
| return 0; | ||
| } |
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