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added 2fg7 support #3

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344 changes: 344 additions & 0 deletions onRobot/onRobot/gripper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -212,6 +212,350 @@ def rg_grip(self, target_width: float = 100, target_force: float= 10) -> bool:
# Close the cURL object
curl.close()


class TwoFG7():
def __init__(self, robot_ip: str, id: int):
self.robot_ip = robot_ip
self.id = id

self.max_force = self.twofg_get_max_force()
self.max_ext_width = self.twofg_get_max_external_width()
self.max_int_width = self.twofg_get_max_internal_width()
self.min_ext_width = self.twofg_get_min_external_width()
self.min_int_width = self.twofg_get_min_internal_width()

self.gripper_width = [self.twofg_get_external_width(), self.twofg_get_internal_width()]


def _send_xml_rpc_request(self, _req=None):

headers = ["Content-Type: application/x-www-form-urlencoded"]

data = _req.replace('\r\n','').encode()

# Create a new cURL object
curl = pycurl.Curl()

# Set the URL to fetch
curl.setopt(curl.URL, f'http://{self.robot_ip}:41414')
curl.setopt(curl.HTTPHEADER, headers)
curl.setopt(curl.POSTFIELDS, data)
# Create a BytesIO object to store the response
buffer = BytesIO()
curl.setopt(curl.WRITEDATA, buffer)

# Perform the request
curl.perform()

# Get the response body
response = buffer.getvalue()

# Print the response
print(response.decode('utf-8'))

# Close the cURL object
curl.close()
# Get response from xmlrpc server
xml_response = xmlrpc.client.loads(response.decode('utf-8'))

return xml_response[0][0]

def twofg_get_external_width(self) -> float:
xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_external_width</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return float(self._send_xml_rpc_request(xml_request))

def twofg_get_internal_width(self) -> float:
xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_internal_width</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return float(self._send_xml_rpc_request(xml_request))


def twofg_grip_external(self, target_width: float = 40.00, target_force: int= 20, speed: int=1) -> int:
"""
speed is the range from 1 to 100. It represents the percentage of the maximum speed.
"""
assert target_width <= self.max_ext_width and target_width >= self.min_ext_width, f'Target Width must be within the range [{self.min_ext_width},{self.max_ext_width}]'
assert target_force <= self.max_force or target_force >= 20, f'Target force must be within the range [20,{self.max_force}]'

# WARNING: params will be sent straight to electrical system with no error checking on robot!
if (target_width > self.max_ext_width):
target_width = self.max_ext_width
if(target_width < self.min_ext_width):
target_width = self.min_ext_width
if(target_force > self.max_force):
target_force = self.max_force
if(target_force < 20):
target_force = 20

xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_grip_external</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
<param>
<value><double>{target_width}</double></value>
</param>
<param>
<value><int>{target_force}</int></value>
</param>
<param>
<value><int>{speed}</int></value>
</param>
</params>
</methodCall>"""

# if status != 0, then command not succesful. Perhaps there is no space to move the gripper
return int(self._send_xml_rpc_request(xml_request))

def twofg_ext_release(self, target_width: float = 40.00, speed: int=1) -> int:
"""
speed is the range from 1 to 100. It represents the percentage of the maximum speed.
"""
target_force: int= 80

assert target_width <= self.max_ext_width and target_width >= self.min_ext_width, f'Target Width must be within the range [{self.min_ext_width},{self.max_ext_width}]'
assert target_force <= self.max_force or target_force >= 20, f'Target force must be within the range [20,{self.max_force}]'

# WARNING: params will be sent straight to electrical system with no error checking on robot!
if (target_width > self.max_ext_width):
target_width = self.max_ext_width
if(target_width < self.min_ext_width):
target_width = self.min_ext_width
if(target_force > self.max_force):
target_force = self.max_force
if(target_force < 20):
target_force = 20

xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_grip_external</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
<param>
<value><double>{target_width}</double></value>
</param>
<param>
<value><int>{target_force}</int></value>
</param>
<param>
<value><int>{speed}</int></value>
</param>
</params>
</methodCall>"""

# if status != 0, then command not succesful. Perhaps there is no space to move the gripper
return int(self._send_xml_rpc_request(xml_request))

def twofg_grip_internal(self, target_width: float = 40.00, target_force: int= 10, speed: int=1) -> int:
"""
speed is the range from 1 to 100. It represents the percentage of the maximum speed.
"""
assert target_width <= self.max_int_width and target_width >= self.min_int_width, f'Target Width must be within the range [{self.min_int_width},{self.max_int_width}]'
assert target_force <= self.max_force or target_force >= 20, f'Target force must be within the range [20,{self.max_force}]'

# WARNING: params will be sent straight to electrical system with no error checking on robot!
if (target_width > self.max_int_width):
target_width = self.max_int_width
if(target_width < self.min_int_width):
target_width = self.min_int_width
if(target_force > self.max_force):
target_force = self.max_force
if(target_force < 20):
target_force = 20

xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_grip_internal</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
<param>
<value><double>{target_width}</double></value>
</param>
<param>
<value><int>{target_force}</int></value>
</param>
<param>
<value><int>{speed}</int></value>
</param>
</params>
</methodCall>"""

# if status != 0, then command not succesful. Perhaps there is no space to move the gripper
return int(self._send_xml_rpc_request(xml_request))

def twofg_int_release(self, target_width: float = 40.00, speed: int=1) -> int:
"""
speed is the range from 1 to 100. It represents the percentage of the maximum speed.
"""
target_force: int= 80

assert target_width <= self.max_int_width and target_width >= self.min_int_width, f'Target Width must be within the range [{self.min_int_width},{self.max_int_width}]'
assert target_force <= self.max_force or target_force >= 20, f'Target force must be within the range [20,{self.max_force}]'

# WARNING: params will be sent straight to electrical system with no error checking on robot!
if (target_width > self.max_int_width):
target_width = self.max_int_width
if(target_width < self.min_int_width):
target_width = self.min_int_width
if(target_force > self.max_force):
target_force = self.max_force
if(target_force < 20):
target_force = 20

xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_grip_internal</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
<param>
<value><double>{target_width}</double></value>
</param>
<param>
<value><int>{target_force}</int></value>
</param>
<param>
<value><int>{speed}</int></value>
</param>
</params>
</methodCall>"""

# if status != 0, then command not succesful. Perhaps there is no space to move the gripper
return int(self._send_xml_rpc_request(xml_request))

def twofg_get_max_external_width(self) -> float:
xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_max_external_width</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return float(self._send_xml_rpc_request(xml_request))

def twofg_get_max_internal_width(self) -> float:
xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_max_internal_width</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return float(self._send_xml_rpc_request(xml_request))

def twofg_get_min_external_width(self) -> float:
xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_min_external_width</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return float(self._send_xml_rpc_request(xml_request))

def twofg_get_min_internal_width(self) -> float:
xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_min_internal_width</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return float(self._send_xml_rpc_request(xml_request))

def twofg_get_max_force(self) -> int:
xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_max_force</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return int(self._send_xml_rpc_request(xml_request))

def twofg_get_status(self) -> int:
# The status codes are not fully clear.
# sofar:
# 0: no grip
# 2: has gripped an object

xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_status</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return int(self._send_xml_rpc_request(xml_request))

def twofg_get_busy(self) -> bool:
xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_busy</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return bool(self._send_xml_rpc_request(xml_request))

def twofg_get_grip_detected(self) -> bool:
xml_request = f"""<?xml version="1.0"?>
<methodCall>
<methodName>twofg_get_grip_detected</methodName>
<params>
<param>
<value><int>{self.id}</int></value>
</param>
</params>
</methodCall>"""

return bool(self._send_xml_rpc_request(xml_request))

def main():

# Default id is zero, if you have multiple grippers,
Expand Down
41 changes: 41 additions & 0 deletions xml_rpc_on_robot/twofg/get_all_twofg_variables_response.xml
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Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,41 @@
<?xml version="1.0" encoding="UTF-8"?>
<methodResponse>
<params>
<param><value><struct>
<member><name>busy</name>
<value><boolean>0</boolean></value></member>
<member><name>error_linear_sensor</name>
<value><boolean>0</boolean></value></member>
<member><name>error_not_calibrated</name>
<value><boolean>0</boolean></value></member>
<member><name>external_width</name>
<value><double>70.3000030517578</double></value></member>
<member><name>finger_height</name>
<value><double>45</double></value></member>
<member><name>finger_length</name>
<value><double>8.5</double></value></member>
<member><name>finger_orientation_outward</name>
<value><boolean>1</boolean></value></member>
<member><name>fingertip_offset</name>
<value><double>3.5</double></value></member>
<member><name>force</name>
<value><i4>2</i4></value></member>
<member><name>grip_detected</name>
<value><boolean>0</boolean></value></member>
<member><name>internal_width</name>
<value><double>84.3000030517578</double></value></member>
<member><name>max_external_width</name>
<value><double>71</double></value></member>
<member><name>max_force</name>
<value><i4>140</i4></value></member>
<member><name>max_internal_width</name>
<value><double>85</double></value></member>
<member><name>min_external_width</name>
<value><double>33</double></value></member>
<member><name>min_internal_width</name>
<value><double>47</double></value></member>
<member><name>status</name>
<value><i4>0</i4></value></member>
</struct></value></param>
</params>
</methodResponse>
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