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JeanElsner / panda-py

Python bindings for real-time control of Franka Emika robots.
https://jeanelsner.github.io/panda-py/
Apache License 2.0
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Vacuum gripper support #14

Closed moneylobster closed 7 months ago

moneylobster commented 8 months ago

This PR ports over the functionality for controlling vacuum grippers in libfranka/vacuum_gripper.h. (documentation here: https://frankaemika.github.io/libfranka/classfranka_1_1VacuumGripper.html)

I tested the vacuum, drop_off, read_once and stop functions on a Panda arm with a vacuum gripper (libfranka 0.8.0, Schmalz gripper) and they seem to be working. The functions already present in this library (that bind to libfranka/gripper.h) do not work with vacuum grippers.

Please let me know if anything else needs to be done for a merge.

JeanElsner commented 8 months ago

Thank you for this! I don't currently have access to the Schmalz gripper to test this myself, so I will just check if this builds against all the supported libfranka versions. If you like, you can also provide a simple Python example demonstrating use of the gripper.

moneylobster commented 8 months ago

I adapted the vacuum_object.cpp example from libfranka and added it into the examples folder. Hopefully the comments aren't too excessive.