Merge pull request #235 from RobotControlStack/feat/robotiq

feat: add robotiq support

Author: juelg

.github/workflows/ci.yaml

@@ -71,7 +71,7 @@ jobs:
           # Python extensions
           - rcs_xarm7
           - rcs_realsense
-          # - rcs_robotiq
+          - rcs_robotiq2f85
           - rcs_tacto
           - rcs_usb_cam
     runs-on: ubuntu-latest

docs/extensions/index.md

@@ -12,4 +12,5 @@ rcs_realsense
 rcs_usb_cam
 rcs_tacto
 rcs_robotics_library
+rcs_robotiq2f85
 ```

docs/extensions/overview.md

@@ -30,6 +30,7 @@ RCS comes with several supported extensions:
 - **rcs_usb_cam**: Support for generic USB webcams.
 - **rcs_tacto**: Integration with the Tacto tactile sensor simulator.
 - **rcs_robotics_library**: Integration with the Robotics Library (RL).
+- **rcs_robotiq2f85**: Integration with the Robotiq 2F-85 Gripper.
 
 ## Creating Extensions
 

docs/extensions/rcs_robotiq2f85.md

@@ -0,0 +1,29 @@
+# RCS Robotiq2F85 Extension
+
+This extension provides support for Robotiq 2F-85 Gripper in RCS.
+
+## Installation
+
+```shell
+pip install -ve extensions/rcs_robotiq2f85
+```
+
+Get the serial number of the gripper with this command:
+```shell
+udevadm info -a -n /dev/ttyUSB0 | grep serial
+```
+
+Provide the necessary permission:
+```shell
+chmod 777 /dev/ttyUSB0
+```
+
+## Usage
+```python
+from rcs_robotiq2f85 import RobotiQGripper
+
+gripper = RobotiQGripper('<YOUR_SERIAL_NUMBER>')
+gripper.reset()
+gripper.shut()
+print(gripper.get_normalized_width())
+```

extensions/rcs_robotiq2f85/README.md

@@ -0,0 +1,28 @@
+# RCS Robotiq 2F-85 Gripper Hardware Extension
+Extension to use the Robotiq 2F-85 Gripper with rcs.
+
+## Installation
+```shell
+pip install -ve .
+```
+
+Get the serial number of the gripper with this command:
+```shell
+udevadm info -a -n /dev/ttyUSB0 | grep serial
+```
+
+Provide the necessary permission:
+```shell
+chmod 777 /dev/ttyUSB0
+```
+
+## Usage
+```python
+from rcs_robotiq2f85 import RobotiQGripper
+
+gripper = RobotiQGripper('<YOUR_SERIAL_NUMBER>')
+gripper.reset()
+gripper.shut()
+print(gripper.get_normalized_width())
+```
+

extensions/rcs_robotiq2f85/pyproject.toml

@@ -0,0 +1,21 @@
+[build-system]
+requires = ["setuptools"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "rcs_robotiq2f85"
+version = "0.6.2"
+description="RCS RobotiQ module"
+dependencies = [
+    "rcs>=0.6.2",
+    "2f85-python-driver @ git+https://github.com/PhilNad/2f85-python-driver.git",
+]
+readme = "README.md"
+maintainers = [
+  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+]
+authors = [
+  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+]
+requires-python = ">=3.10"
+license = { text = "AGPL-3.0-or-later" }

extensions/rcs_robotiq2f85/src/rcs_robotiq2f45/__init__.py

@@ -0,0 +1 @@
+__version__ = "0.6.2"

extensions/rcs_robotiq2f85/src/rcs_robotiq2f45/hw.py

@@ -0,0 +1,43 @@
+from rcs._core.common import Gripper
+from Robotiq2F85Driver.Robotiq2F85Driver import Robotiq2F85Driver
+
+
+class RobotiQGripper(Gripper):
+    def __init__(self, serial_number):
+        super().__init__()
+        self.gripper = Robotiq2F85Driver(serial_number=serial_number)
+
+    def get_normalized_width(self) -> float:
+        # value between 0 and 1 (0 is closed)
+        return self.gripper.opening / 85
+
+    def grasp(self) -> None:
+        """
+        Close the gripper to grasp an object.
+        """
+        self.set_normalized_width(0.0)
+
+    def open(self) -> None:
+        """
+        Open the gripper to its maximum width.
+        """
+        self.set_normalized_width(1.0)
+
+    def reset(self) -> None:
+        self.gripper.reset()
+
+    def set_normalized_width(self, width: float, _: float = 0) -> None:
+        """
+        Set the gripper width to a normalized value between 0 and 1.
+        """
+        if not (0 <= width <= 1):
+            msg = f"Width must be between 0 and 1, got {width}."
+            raise ValueError(msg)
+        abs_width = width * 85
+        self.gripper.go_to(opening=float(abs_width), speed=150.0, force=30.0)
+
+    def shut(self) -> None:
+        """
+        Close the gripper.
+        """
+        self.set_normalized_width(0.0)

pyproject.toml

@@ -214,4 +214,8 @@ version_files = [
   "extensions/rcs_tacto/pyproject.toml:version",
   "extensions/rcs_tacto/src/rcs_tacto/__init__.py:__version__",
   "extensions/rcs_tacto/pyproject.toml:\"rcs>=(.*)\"",
+
+  "extensions/rcs_robotiq2f85/pyproject.toml:version",
+  "extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/__init__.py:__version__",
+  "extensions/rcs_robotiq2f85/pyproject.toml:\"rcs>=(.*)\"",
 ]