fix(franka cli): untangle home and gripper

- home and gripper are now separate in the cli
- both no longer require setting of password

Author: juelg

extensions/rcs_fr3/src/rcs_fr3/__main__.py

@@ -21,13 +21,19 @@
 @fr3_app.command()
 def home(
     ip: Annotated[str, typer.Argument(help="IP of the robot")],
-    shut: Annotated[bool, typer.Option("-s", help="Should the robot be shut down")] = False,
-    unlock: Annotated[bool, typer.Option("-u", help="unlocks the robot")] = False,
-    fh: Annotated[bool, typer.Option("-h", help="franka hand open")] = False,
 ):
     """Moves the FR3 to home position"""
-    user, pw = load_creds_franka_desk()
-    rcs_fr3.desk.home(ip, user, pw, shut, unlock, fh)
+    rcs_fr3.desk.home(ip)
+
+
+# griper command
+@fr3_app.command()
+def gripper(
+    ip: Annotated[str, typer.Argument(help="IP of the robot")],
+    close_gripper: Annotated[bool, typer.Option("-c", help="close gripper")] = False,
+):
+    """Opens or closes the gripper"""
+    rcs_fr3.desk.gripper(ip, close_gripper)
 
 
 @fr3_app.command()
@@ -36,8 +42,7 @@ def info(
     include_gripper: Annotated[bool, typer.Option("-g", help="includes gripper")] = False,
 ):
     """Prints info about the robots current joint position and end effector pose, optionally also the gripper."""
-    user, pw = load_creds_franka_desk()
-    rcs_fr3.desk.info(ip, user, pw, include_gripper)
+    rcs_fr3.desk.info(ip, include_gripper)
 
 
 @fr3_app.command()

extensions/rcs_fr3/src/rcs_fr3/desk.py

@@ -45,45 +45,49 @@ def load_creds_franka_desk(postfix: str = "") -> tuple[str, str]:
     return os.environ[username_key], os.environ[password_key]
 
 
-def home(ip: str, username: str, password: str, shut: bool, unlock: bool = False, fh: bool = False):
-    with Desk.fci(ip, username, password, unlock=unlock):
+def home(ip: str):
+    default_env = DefaultFR3HardwareEnv()
+    default_env.ip = ip
+    env_cfg = default_env.config()
+    robot_cfg = env_cfg.robot_cfg
+    robot_cfg.speed_factor = 0.2
+    f = rcs_fr3.hw.Franka(robot_cfg)
+    f.move_home()
+
+
+def gripper(ip: str, close_gripper: bool):
+
+    default_env = DefaultFR3HardwareEnv()
+    default_env.ip = ip
+    env_cfg = default_env.config()
+    config_hand = env_cfg.gripper_cfg
+    assert isinstance(config_hand, rcs_fr3.hw.FHConfig)
+    g = rcs_fr3.hw.FrankaHand(config_hand)
+    if close_gripper:
+        g.shut()
+    else:
+        g.open()
+
+
+def info(ip: str, include_hand: bool = False):
+    robot_cfg = rcs_fr3.hw.FR3Config(ip=ip)
+    robot_cfg.speed_factor = 0.2
+    f = rcs_fr3.hw.Franka(robot_cfg)
+    print("Robot info:")
+    print("Current cartesian position:")
+    print(f.get_cartesian_position())
+    print("Current joint position:")
+    print(f.get_joint_position())
+    if include_hand:
         default_env = DefaultFR3HardwareEnv()
         default_env.ip = ip
         env_cfg = default_env.config()
-        robot_cfg = env_cfg.robot_cfg
-        robot_cfg.speed_factor = 0.2
-        f = rcs_fr3.hw.Franka(robot_cfg)
-        if fh:
-            config_hand = env_cfg.gripper_cfg
-            assert isinstance(config_hand, rcs_fr3.hw.FHConfig)
-            g = rcs_fr3.hw.FrankaHand(config_hand)
-            if shut:
-                g.shut()
-            else:
-                g.open()
-        f.move_home()
-
-
-def info(ip: str, username: str, password: str, include_hand: bool = False):
-    with Desk.fci(ip, username, password):
-        robot_cfg = rcs_fr3.hw.FR3Config(ip=ip)
-        robot_cfg.speed_factor = 0.2
-        f = rcs_fr3.hw.Franka(robot_cfg)
-        print("Robot info:")
-        print("Current cartesian position:")
-        print(f.get_cartesian_position())
-        print("Current joint position:")
-        print(f.get_joint_position())
-        if include_hand:
-            default_env = DefaultFR3HardwareEnv()
-            default_env.ip = ip
-            env_cfg = default_env.config()
-            config_hand = env_cfg.gripper_cfg
-            assert isinstance(config_hand, rcs_fr3.hw.FHConfig)
-            g = rcs_fr3.hw.FrankaHand(config_hand)
-            print("Gripper info:")
-            print("Current normalized width:")
-            print(g.get_normalized_width())
+        config_hand = env_cfg.gripper_cfg
+        assert isinstance(config_hand, rcs_fr3.hw.FHConfig)
+        g = rcs_fr3.hw.FrankaHand(config_hand)
+        print("Gripper info:")
+        print("Current normalized width:")
+        print(g.get_normalized_width())
 
 
 def lock(ip: str, username: str, password: str):

extensions/rcs_panda/src/rcs_panda/__main__.py

@@ -21,12 +21,18 @@
 @panda_app.command()
 def home(
     ip: Annotated[str, typer.Argument(help="IP of the robot")],
-    shut: Annotated[bool, typer.Option("-s", help="Should the robot be shut down")] = False,
-    unlock: Annotated[bool, typer.Option("-u", help="unlocks the robot")] = False,
 ):
     """Moves the panda to home position"""
-    user, pw = load_creds_franka_desk()
-    rcs_panda.desk.home(ip, user, pw, shut, unlock)
+    rcs_panda.desk.home(ip)
+
+
+@panda_app.command()
+def gripper(
+    ip: Annotated[str, typer.Argument(help="IP of the robot")],
+    close_gripper: Annotated[bool, typer.Option("-c", help="close gripper")] = False,
+):
+    """Opens or closes the gripper"""
+    rcs_panda.desk.gripper(ip, close_gripper)
 
 
 @panda_app.command()
@@ -35,8 +41,7 @@ def info(
     include_gripper: Annotated[bool, typer.Option("-g", help="includes gripper")] = False,
 ):
     """Prints info about the robots current joint position and end effector pose, optionally also the gripper."""
-    user, pw = load_creds_franka_desk()
-    rcs_panda.desk.info(ip, user, pw, include_gripper)
+    rcs_panda.desk.info(ip, include_gripper)
 
 
 @panda_app.command()

extensions/rcs_panda/src/rcs_panda/desk.py

@@ -45,44 +45,48 @@ def load_creds_franka_desk(postfix: str = "") -> tuple[str, str]:
     return os.environ[username_key], os.environ[password_key]
 
 
-def home(ip: str, username: str, password: str, shut: bool, unlock: bool = False):
-    with Desk.fci(ip, username, password, unlock=unlock):
+def home(ip: str):
+    default_env = DefaultPandaHardwareEnv()
+    default_env.ip = ip
+    env_cfg = default_env.config()
+    robot_cfg = env_cfg.robot_cfg
+    robot_cfg.speed_factor = 0.2
+    f = rcs_panda.hw.Franka(robot_cfg)
+    f.move_home()
+
+
+def gripper(ip: str, close_gripper: bool):
+    default_env = DefaultPandaHardwareEnv()
+    default_env.ip = ip
+    env_cfg = default_env.config()
+    config_hand = env_cfg.gripper_cfg
+    assert isinstance(config_hand, rcs_panda.hw.FHConfig)
+    g = rcs_panda.hw.FrankaHand(config_hand)
+    if close_gripper:
+        g.shut()
+    else:
+        g.open()
+
+
+def info(ip: str, include_hand: bool = False):
+    robot_cfg = rcs_panda.hw.PandaConfig(ip=ip)
+    robot_cfg.speed_factor = 0.2
+    f = rcs_panda.hw.Franka(robot_cfg)
+    print("Robot info:")
+    print("Current cartesian position:")
+    print(f.get_cartesian_position())
+    print("Current joint position:")
+    print(f.get_joint_position())
+    if include_hand:
         default_env = DefaultPandaHardwareEnv()
         default_env.ip = ip
         env_cfg = default_env.config()
-        robot_cfg = env_cfg.robot_cfg
-        robot_cfg.speed_factor = 0.2
-        f = rcs_panda.hw.Franka(robot_cfg)
         config_hand = env_cfg.gripper_cfg
         assert isinstance(config_hand, rcs_panda.hw.FHConfig)
         g = rcs_panda.hw.FrankaHand(config_hand)
-        if shut:
-            g.shut()
-        else:
-            g.open()
-        f.move_home()
-
-
-def info(ip: str, username: str, password: str, include_hand: bool = False):
-    with Desk.fci(ip, username, password):
-        robot_cfg = rcs_panda.hw.PandaConfig(ip=ip)
-        robot_cfg.speed_factor = 0.2
-        f = rcs_panda.hw.Franka(robot_cfg)
-        print("Robot info:")
-        print("Current cartesian position:")
-        print(f.get_cartesian_position())
-        print("Current joint position:")
-        print(f.get_joint_position())
-        if include_hand:
-            default_env = DefaultPandaHardwareEnv()
-            default_env.ip = ip
-            env_cfg = default_env.config()
-            config_hand = env_cfg.gripper_cfg
-            assert isinstance(config_hand, rcs_panda.hw.FHConfig)
-            g = rcs_panda.hw.FrankaHand(config_hand)
-            print("Gripper info:")
-            print("Current normalized width:")
-            print(g.get_normalized_width())
+        print("Gripper info:")
+        print("Current normalized width:")
+        print(g.get_normalized_width())
 
 
 def lock(ip: str, username: str, password: str):