Closed moneylobster closed 7 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.
I adapted the vacuum_object.cpp
example from libfranka and added it into the examples folder. Hopefully the comments aren't too excessive.
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
andstop
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 tolibfranka/gripper.h
) do not work with vacuum grippers.Please let me know if anything else needs to be done for a merge.