vpRobotFrankaSim.cpp

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/*
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2021 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Franka robot ROS simulator coupled with Coppeliasim.
 *
 * Authors:
 * Alexander Oliva
 * Fabien Spindler
 */

#include <visp_ros/vpRobotFrankaSim.h>

#include "model/franka_model.h"

#if defined( VISP_HAVE_OROCOS_KDL )

vpRobotFrankaSim::vpRobotFrankaSim()
  : m_q( 7, 0 )
  , m_dq( 7, 0 )
  , m_tau_J( 7, 0 )
  , m_mL( 0.0 )
  , m_flMcom()
  , m_Il( 3, 3 )
  , m_flMe()
  , m_g0( { 0.0, 0.0, -9.80665 } )
  , m_mutex()
  , m_q_kdl( 7 )
  , m_dq_des_kdl( 7 )
  , m_chain_kdl()
  , m_q_min_kdl( 7 )
  , m_q_max_kdl( 7 )
  , m_stateRobot( vpRobot::STATE_STOP )
  , m_q_des( 7, 0 )
  , m_dq_des( 7, 0 )
  , m_dq_des_filt( 7, 0 )
  , m_v_cart_des( 6, 0 )
  , m_tau_J_des( 7, 0 )
  , m_tau_J_des_filt( 7, 0 )
  , m_eMc()
  , m_eVc()
  , m_verbose( false )
  , m_toolMounted( false )
  , m_camMounted( false )
{
#ifdef VISP_HAVE_OROCOS_KDL
  m_chain_kdl.addSegment(
      KDL::Segment( KDL::Joint( KDL::Joint::None ), KDL::Frame::DH_Craig1989( 0.0, 0.0, 0.333, 0.0 ) ) );
  m_chain_kdl.addSegment(
      KDL::Segment( KDL::Joint( KDL::Joint::RotZ ), KDL::Frame::DH_Craig1989( 0.0, -M_PI_2, 0.0, 0.0 ) ) );
  m_chain_kdl.addSegment(
      KDL::Segment( KDL::Joint( KDL::Joint::RotZ ), KDL::Frame::DH_Craig1989( 0.0, M_PI_2, 0.316, 0.0 ) ) );
  m_chain_kdl.addSegment(
      KDL::Segment( KDL::Joint( KDL::Joint::RotZ ), KDL::Frame::DH_Craig1989( 0.0825, M_PI_2, 0.0, 0.0 ) ) );
  m_chain_kdl.addSegment(
      KDL::Segment( KDL::Joint( KDL::Joint::RotZ ), KDL::Frame::DH_Craig1989( -0.0825, -M_PI_2, 0.384, 0.0 ) ) );
  m_chain_kdl.addSegment(
      KDL::Segment( KDL::Joint( KDL::Joint::RotZ ), KDL::Frame::DH_Craig1989( 0.0, M_PI_2, 0.0, 0.0 ) ) );
  m_chain_kdl.addSegment(
      KDL::Segment( KDL::Joint( KDL::Joint::RotZ ), KDL::Frame::DH_Craig1989( 0.088, M_PI_2, 0.0, 0.0 ) ) );
  m_chain_kdl.addSegment(
      KDL::Segment( KDL::Joint( KDL::Joint::RotZ ), KDL::Frame::DH_Craig1989( 0.0, 0.0, 0.107, 0.0 ) ) );

  m_q_min_kdl( 0 ) = -2.8973;
  m_q_min_kdl( 1 ) = -1.7628;
  m_q_min_kdl( 2 ) = -2.8973;
  m_q_min_kdl( 3 ) = -3.0718;
  m_q_min_kdl( 4 ) = -2.8973;
  m_q_min_kdl( 5 ) = -0.0175;
  m_q_min_kdl( 6 ) = -2.8973;
  m_q_max_kdl( 0 ) = 2.8973;
  m_q_max_kdl( 1 ) = 1.7628;
  m_q_max_kdl( 2 ) = 2.8973;
  m_q_max_kdl( 3 ) = -0.0698;
  m_q_max_kdl( 4 ) = 2.8973;
  m_q_max_kdl( 5 ) = 3.7525;
  m_q_max_kdl( 6 ) = 2.8973;

  m_fksolver_kdl       = new KDL::ChainFkSolverPos_recursive( m_chain_kdl );
  m_jacobianSolver_kdl = new KDL::ChainJntToJacSolver( m_chain_kdl );
  m_diffIkSolver_kdl   = new KDL::ChainIkSolverVel_pinv( m_chain_kdl );
  m_iksolver_JL_kdl    = new KDL::ChainIkSolverPos_NR_JL( m_chain_kdl, m_q_min_kdl, m_q_max_kdl, *( m_fksolver_kdl ),
                                                       *( m_diffIkSolver_kdl ), 100,
                                                       1e-6 ); // Maximum 100 iterations, stop at accuracy 1e-6
#endif
}

vpRobotFrankaSim::~vpRobotFrankaSim()
{
#ifdef VISP_HAVE_OROCOS_KDL
  delete m_fksolver_kdl;
  delete m_jacobianSolver_kdl;
  delete m_diffIkSolver_kdl;
  delete m_iksolver_JL_kdl;
#endif
}

vpColVector
vpRobotFrankaSim::getVelDes()
{
  return m_dq_des_filt;
}

void
vpRobotFrankaSim::getFriction( vpColVector &friction )
{
  std::lock_guard< std::mutex > lock( m_mutex );
  friction = franka_model::friction( m_dq );
}

void
vpRobotFrankaSim::set_eMc( const vpHomogeneousMatrix &eMc )
{
  std::lock_guard< std::mutex > lock( m_mutex );
  m_eMc = eMc;
  m_eVc.buildFrom( m_eMc );
  m_camMounted = true;
}

void
vpRobotFrankaSim::set_flMe( const vpHomogeneousMatrix &flMe )
{
  std::lock_guard< std::mutex > lock( m_mutex );

#ifdef VISP_HAVE_OROCOS_KDL
  KDL::Frame frame8Mfl_kdl;
  frame8Mfl_kdl = m_chain_kdl.segments[7].getFrameToTip();
  vpHomogeneousMatrix f8Mfl, f8Me;
  for ( unsigned int i = 0; i < 3; i++ )
  {
    for ( unsigned int j = 0; j < 3; j++ )
    {
      f8Mfl[i][j] = frame8Mfl_kdl.M.data[3 * i + j];
    }
    f8Mfl[i][3] = frame8Mfl_kdl.p.data[i];
  }
  f8Me = f8Mfl * m_flMe.inverse() * flMe;

  KDL::Rotation f8Re( f8Me[0][0], f8Me[0][1], f8Me[0][2], f8Me[1][0], f8Me[1][1], f8Me[0][2], f8Me[2][0], f8Me[2][1],
                      f8Me[2][2] );
  KDL::Vector f8te( f8Me[0][3], f8Me[1][3], f8Me[2][3] );
  KDL::Frame f8Me_kdl( f8Re, f8te );

  m_chain_kdl.segments[7].setFrameToTip( f8Me_kdl );
  m_flMe = flMe;
#endif
}

void
vpRobotFrankaSim::set_g0( const vpColVector &g0 )
{
  std::lock_guard< std::mutex > lock( m_mutex );
  m_g0 = g0;
}

void
vpRobotFrankaSim::add_tool( const vpHomogeneousMatrix &flMe, const double mL, const vpHomogeneousMatrix &flMcom,
                            const vpMatrix &I_L )
{
  this->set_flMe( flMe );
  std::lock_guard< std::mutex > lock( m_mutex );
  if ( mL < 0.0 )
  {
    std::cout << "Mass cannot be negative! \nmL = " << mL << " not assigned \n";
  }
  else
  {
    m_mL = mL;
  }
  m_flMcom      = flMcom;
  m_Il          = I_L;
  m_toolMounted = true;

  if ( m_verbose )
  {
    std::cout << "A tool has been mounted on the robot.\n";
    std::cout << "Mass: " << m_mL << " [kg]\n";
    std::cout << "Inertia Tensor in flange frame:\n" << m_Il << " [kg*m^2]\n";
    std::cout << "CoM position in flange frame: " << m_flMcom.getTranslationVector().t() << " [m]\n";
    std::cout << "CoM orientation in flange frame: \n" << m_flMcom.getRotationMatrix() << std::endl;
  }
}

vpRobot::vpRobotStateType
vpRobotFrankaSim::getRobotState( void )
{
  return m_stateRobot;
}

void
vpRobotFrankaSim::get_fJe( vpMatrix &fJe )
{
  fJe.reshape( 6, 7 );

#ifdef VISP_HAVE_OROCOS_KDL
  KDL::Jacobian Jac( 7 );

  m_mutex.lock();
  m_jacobianSolver_kdl->JntToJac( m_q_kdl, Jac );
  m_mutex.unlock();

  for ( unsigned int i = 0; i < 6; i++ )
  {
    for ( unsigned int j = 0; j < 7; j++ )
    {
      fJe[i][j] = Jac.data( i, j );
    }
  }
#endif
}

void
vpRobotFrankaSim::get_fJe( const vpColVector &q, vpMatrix &fJe )
{
  if ( q.size() != 7 )
  {
    throw( vpException( vpException::dimensionError, "Joint position vector is not a 7-dim vector (%d)", q.size() ) );
  }

  fJe.reshape( 6, 7 );

#ifdef VISP_HAVE_OROCOS_KDL
  KDL::JntArray jnts = KDL::JntArray( 7 );
  KDL::Jacobian Jac( 7 );

  for ( unsigned int i = 0; i < 7; i++ )
  {
    jnts( i ) = q[i];
  }
  m_jacobianSolver_kdl->JntToJac( jnts, Jac );

  for ( unsigned int i = 0; i < 6; i++ )
  {
    for ( unsigned int j = 0; j < 7; j++ )
    {
      fJe[i][j] = Jac.data( i, j );
    }
  }
#endif
}

void
vpRobotFrankaSim::get_eJe( vpMatrix &eJe )
{
  vpMatrix fJe( 6, 7 );
  get_fJe( fJe );
  vpHomogeneousMatrix fMe( get_fMe() );
  vpMatrix eVf( 6, 6 );
  eVf.insert( fMe.getRotationMatrix().t(), 0, 0 );
  eVf.insert( fMe.getRotationMatrix().t(), 3, 3 );

  eJe = eVf * fJe;
}

void
vpRobotFrankaSim::get_eJe( const vpColVector &q, vpMatrix &eJe )
{
  if ( q.size() != 7 )
  {
    throw( vpException( vpException::dimensionError, "Joint position vector is not a 7-dim vector (%d)", q.size() ) );
  }

  vpMatrix fJe( 6, 7 );
  get_fJe( q, fJe );
  vpHomogeneousMatrix fMe( get_fMe( q ) );
  vpMatrix eVf( 6, 6 );
  eVf.insert( fMe.getRotationMatrix().t(), 0, 0 );
  eVf.insert( fMe.getRotationMatrix().t(), 3, 3 );

  eJe = eVf * fJe;
}

vpHomogeneousMatrix
vpRobotFrankaSim::get_eMc() const
{
  return m_eMc;
}

vpHomogeneousMatrix
vpRobotFrankaSim::get_flMe() const
{
  return m_flMe;
}

vpHomogeneousMatrix
vpRobotFrankaSim::get_flMcom() const
{
  return m_flMcom;
}

double
vpRobotFrankaSim::get_tool_mass() const
{
  return m_mL;
}

void
vpRobotFrankaSim::getPosition( const vpRobot::vpControlFrameType frame, vpColVector &position )
{
  switch ( frame )
  {
  case vpRobot::JOINT_STATE:
  { // Same as ARTICULAR_FRAME
    position.resize( 7 );
    std::lock_guard< std::mutex > lock( m_mutex );
    position = m_q;
    break;
  }
  case vpRobot::END_EFFECTOR_FRAME:
  {
    position.resize( 6 );

    vpPoseVector fPe( get_fMe() );
    for ( unsigned int i = 0; i < 6; i++ )
    {
      position[i] = fPe[i];
    }

    break;
  }
  case vpRobot::CAMERA_FRAME:
  { // same as TOOL_FRAME
    position.resize( 6 );
    vpPoseVector fPc( get_fMe() * m_eMc );
    for ( unsigned int i = 0; i < 6; i++ )
    {
      position[i] = fPc[i];
    }
    break;
  }
  default:
  {
    throw( vpException( vpException::fatalError, "Cannot get Franka cartesian position: wrong method" ) );
  }
  }
}

void
vpRobotFrankaSim::getPosition( const vpRobot::vpControlFrameType frame, vpPoseVector &position )
{
  vpColVector pose( 6, 0 );
  if ( frame == vpRobot::END_EFFECTOR_FRAME || frame == vpRobot::CAMERA_FRAME )
  {
    getPosition( frame, pose );
    for ( unsigned int i = 0; i < 6; i++ )
    {
      position[i] = pose[i];
    }
  }
  else
  {
    throw( vpException( vpException::fatalError, "Cannot get a cartesian position for the specified frame" ) );
  }
}

void
vpRobotFrankaSim::setPosition( const vpRobot::vpControlFrameType frame, const vpColVector &position )
{
  switch ( frame )
  {
  case vpRobot::JOINT_STATE:
  {
    if ( position.size() != 7 )
    {
      throw( vpException( vpException::dimensionError, "Joint position vector is not a 7-dim vector (%d)",
                          position.size() ) );
    }
    std::lock_guard< std::mutex > lock( m_mutex );
    m_q_des = position;

    break;
  }
  case vpRobot::END_EFFECTOR_FRAME:
  {
    if ( position.size() != 6 )
    {
      throw( vpException( vpException::dimensionError, "Cartesian position vector is not a 6-dim vector (%d)",
                          position.size() ) );
    }
    vpHomogeneousMatrix wMe;
    wMe.buildFrom( position[0], position[1], position[2], position[3], position[4], position[5] );
    vpColVector q_des = solveIK( wMe );
    std::lock_guard< std::mutex > lock( m_mutex );
    m_q_des = q_des;

    break;
  }
  case vpRobot::CAMERA_FRAME:
  {
    if ( position.size() != 6 )
    {
      throw( vpException( vpException::dimensionError, "Cartesian position vector is not a 6-dim vector (%d)",
                          position.size() ) );
    }
    vpHomogeneousMatrix wMc;
    wMc.buildFrom( position[0], position[1], position[2], position[3], position[4], position[5] );

    vpHomogeneousMatrix wMe = wMc * m_eMc.inverse();
    vpColVector q_des       = solveIK( wMe );
    std::lock_guard< std::mutex > lock( m_mutex );
    m_q_des = q_des;

    break;
  }
  default:
  {
    throw( vpException( vpException::fatalError, "Franka positioning frame is not implemented" ) );
  }
  }
}

vpColVector
vpRobotFrankaSim::solveIK( const vpHomogeneousMatrix &wMe )
{
  vpColVector q_solved( 7, 0 );
#ifdef VISP_HAVE_OROCOS_KDL
  KDL::JntArray q_out( 7 );
  KDL::Rotation wRe( wMe[0][0], wMe[0][1], wMe[0][2], wMe[1][0], wMe[1][1], wMe[1][2], wMe[2][0], wMe[2][1],
                     wMe[2][2] );

  KDL::Vector wte( wMe[0][3], wMe[1][3], wMe[2][3] );
  KDL::Frame wMe_kdl( wRe, wte );
  m_mutex.lock();
  int ret = m_iksolver_JL_kdl->CartToJnt( m_q_kdl, wMe_kdl, q_out );
  m_mutex.unlock();
  switch ( ret )
  {
  case KDL::SolverI::E_NOERROR:
  {
    std::cout << "solveIK: E_NOERROR" << std::endl;
    break;
  }
  case KDL::SolverI::E_MAX_ITERATIONS_EXCEEDED:
  {
    std::cout << "solveIK: E_MAX_ITERATIONS_EXCEEDED" << std::endl;
    break;
  }
  case KDL::SolverI::E_NOT_IMPLEMENTED:
  {
    std::cout << "solveIK: E_NOT_IMPLEMENTED" << std::endl;
    break;
  }
  default:
  {
    throw( vpException( vpException::fatalError, "Error: unable to solve ik\n" ) );
  }
  }

  for ( unsigned int i = 0; i < 7; i++ )
  {
    q_solved[i] = q_out( i );
  }
#endif

  return q_solved;
}

void
vpRobotFrankaSim::getVelocity( const vpRobot::vpControlFrameType frame, vpColVector &velocity )
{
  switch ( frame )
  {
  case vpRobot::JOINT_STATE:
  {
    velocity.resize( 7 );
    std::lock_guard< std::mutex > lock( m_mutex );
    velocity = m_dq;
    break;
  }
  case vpRobot::END_EFFECTOR_FRAME:
  {
    velocity.resize( 6 );
    vpMatrix eJe( 6, 7 );
    this->get_eJe( eJe );
    std::lock_guard< std::mutex > lock( m_mutex );
    velocity = eJe * m_dq;
    break;
  }
  case vpRobot::REFERENCE_FRAME:
  {
    velocity.resize( 6 );
    vpMatrix fJe( 6, 7 );
    this->get_fJe( fJe );
    std::lock_guard< std::mutex > lock( m_mutex );
    velocity = fJe * m_dq;
    break;
  }
  default:
  {
    throw( vpException( vpException::fatalError, "Cannot get Franka velocity in the specified frame" ) );
  }
  }
}

void
vpRobotFrankaSim::setVelocity( const vpRobot::vpControlFrameType frame, const vpColVector &velocity )
{
  if ( vpRobot::STATE_VELOCITY_CONTROL != getRobotState() )
  {
    std::cout << "Cannot send a velocity to the robot. "
                 "Use setRobotState(vpRobot::STATE_VELOCITY_CONTROL) first. \n";
  }

  switch ( frame )
  {
  case vpRobot::JOINT_STATE:
  {
    if ( velocity.size() != 7 )
    {
      std::cout << "Joint velocity vector " << velocity.size() << " is not of size 7 \n";
    }
    std::lock_guard< std::mutex > lock( m_mutex );
    m_dq_des = velocity;
    break;
  }

  case vpRobot::REFERENCE_FRAME:
  {
    if ( velocity.size() != 6 )
    {
      std::cout << "Cartesian velocity vector " << velocity.size() << " is not of size 6 \n";
    }
    vpColVector vel_max( 6 );

    for ( unsigned int i = 0; i < 3; i++ )
    {
      vel_max[i]     = 1.7;
      vel_max[3 + i] = 2.5;
    }
    // velocities are expressed in Base frame
    m_v_cart_des = vpRobot::saturateVelocities( velocity, vel_max, true );

#ifdef VISP_HAVE_OROCOS_KDL
    KDL::Twist v_cart;
    for ( unsigned int i = 0; i < 3; i++ )
    {
      v_cart.vel.data[i] = m_v_cart_des[i];
      v_cart.rot.data[i] = m_v_cart_des[i + 3];
    }
    std::lock_guard< std::mutex > lock( m_mutex );
    m_diffIkSolver_kdl->CartToJnt( m_q_kdl, v_cart, m_dq_des_kdl );
    for ( unsigned int i = 0; i < 7; i++ )
    {
      m_dq_des[i] = m_dq_des_kdl.data( i );
    }
#endif
    break;
  }

  case vpRobot::END_EFFECTOR_FRAME:
  {
    if ( velocity.size() != 6 )
    {
      std::cout << "Cartesian velocity vector " << velocity.size() << " is not of size 6 \n";
    }
    // Apply Cartesian velocity limits according to the specifications
    vpColVector vel_max( 6 );
    for ( unsigned int i = 0; i < 3; i++ )
    {
      vel_max[i]     = 1.7;
      vel_max[3 + i] = 2.5;
    }
    // Refer End-Effector velocities in Base frame
    vpHomogeneousMatrix fMe = this->get_fMe();
    vpVelocityTwistMatrix fVe( fMe, false );
    m_v_cart_des = fVe * vpRobot::saturateVelocities( velocity, vel_max, true );

#ifdef VISP_HAVE_OROCOS_KDL
    KDL::Twist v_cart;
    for ( unsigned int i = 0; i < 3; i++ )
    {
      v_cart.vel.data[i] = m_v_cart_des[i];
      v_cart.rot.data[i] = m_v_cart_des[i + 3];
    }

    std::lock_guard< std::mutex > lock( m_mutex );
    m_diffIkSolver_kdl->CartToJnt( m_q_kdl, v_cart, m_dq_des_kdl );
    for ( unsigned int i = 0; i < 7; i++ )
    {
      m_dq_des[i] = m_dq_des_kdl.data( i );
    }
#endif
    break;
  }
  case vpRobot::CAMERA_FRAME:
  {
    if ( velocity.size() != 6 )
    {
      std::cout << "Cartesian velocity vector " << velocity.size() << " is not of size 6 \n";
    }
    // Apply Cartesian velocity limits according to the specifications
    vpColVector vel_max( 6 );
    for ( unsigned int i = 0; i < 3; i++ )
    {
      vel_max[i]     = 1.7;
      vel_max[3 + i] = 2.5;
    }
    // Refer End-Effector velocities in Base frame
    vpHomogeneousMatrix fMe = this->get_fMe();
    vpVelocityTwistMatrix fWe( fMe, false );
    std::lock_guard< std::mutex > lock( m_mutex );
    m_v_cart_des = vpRobot::saturateVelocities( fWe * m_eVc * velocity, vel_max, true );

#ifdef VISP_HAVE_OROCOS_KDL
    KDL::Twist v_cart;
    for ( unsigned int i = 0; i < 3; i++ )
    {
      v_cart.vel.data[i] = m_v_cart_des[i];
      v_cart.rot.data[i] = m_v_cart_des[i + 3];
    }

    m_diffIkSolver_kdl->CartToJnt( m_q_kdl, v_cart, m_dq_des_kdl );
    for ( unsigned int i = 0; i < 7; i++ )
    {
      m_dq_des[i] = m_dq_des_kdl.data( i );
    }
#endif
    break;
  }
  case vpRobot::MIXT_FRAME:
    throw( vpException( vpException::functionNotImplementedError, "MIXT_FRAME is not implemented" ) );
  }
}

void
vpRobotFrankaSim::getForceTorque( const vpRobot::vpControlFrameType frame, vpColVector &force )
{
  switch ( frame )
  {
  case vpRobot::JOINT_STATE:
  {
    force.resize( 7 );
    std::lock_guard< std::mutex > lock( m_mutex );
    force = m_tau_J;
    break;
  }
  case vpRobot::END_EFFECTOR_FRAME:
  {
    force.resize( 6 );
    vpMatrix eJe;
    this->get_eJe( eJe );
    std::lock_guard< std::mutex > lock( m_mutex );
    force = eJe.transpose().pseudoInverse() * m_tau_J;
    break;
  }
  case vpRobot::REFERENCE_FRAME:
  {
    force.resize( 6 );
    vpMatrix fJe;
    this->get_fJe( fJe );
    std::lock_guard< std::mutex > lock( m_mutex );
    force = fJe.transpose().pseudoInverse() * m_tau_J;
    break;
  }

  default:
  {
    throw( vpException( vpException::fatalError, "Cannot get Franka position for the specified frame " ) );
  }
  }
}

void
vpRobotFrankaSim::setForceTorque( const vpRobot::vpControlFrameType frame, const vpColVector &force )
{
  if ( vpRobot::STATE_FORCE_TORQUE_CONTROL != getRobotState() )
  {
    std::cout << "Cannot send a torque command to the robot. "
                 "Use setRobotState(vpRobot::STATE_FORCE_TORQUE_CONTROL) first. \n";
  }

  switch ( frame )
  {
  // Saturation in joint space
  case vpRobot::JOINT_STATE:
  {
    if ( force.size() != 7 )
    {
      std::cout << "Joint velocity vector " << force.size() << " is not of size 7 \n";
    }
    std::lock_guard< std::mutex > lock( m_mutex );
    m_tau_J_des = force;

    break;
  }

  case vpRobot::REFERENCE_FRAME:
  {
    if ( force.size() != 6 )
    {
      std::cout << "Cartesian velocity vector " << force.size() << " is not of size 6 \n";
    }
    vpMatrix fJe( 6, 7 );
    this->get_fJe( fJe );
    std::lock_guard< std::mutex > lock( m_mutex );
    m_tau_J_des = fJe.t() * force;
    break;
  }

  case vpRobot::END_EFFECTOR_FRAME:
  {
    if ( force.size() != 6 )
    {
      std::cout << "Cartesian velocity vector " << force.size() << " is not of size 6 \n";
    }
    vpMatrix eJe( 6, 7 );
    this->get_eJe( eJe );
    std::lock_guard< std::mutex > lock( m_mutex );
    m_tau_J_des = eJe.t() * force;
    break;
  }
  case vpRobot::CAMERA_FRAME:
  {
    throw( vpException( vpException::functionNotImplementedError,
                        "force/torque control in camera frame is not implemented" ) );
  }
  case vpRobot::MIXT_FRAME:
  {
    throw( vpException( vpException::functionNotImplementedError,
                        "force/torque control in mixt frame is not implemented" ) );
  }
  }
}

vpHomogeneousMatrix
vpRobotFrankaSim::get_fMe()
{
  vpHomogeneousMatrix fMe;

#ifdef VISP_HAVE_OROCOS_KDL
  KDL::Frame cartpos;
  // Calculate forward kinematics
  int kinematics_status;
  vpRotationMatrix R;
  vpTranslationVector t;
  std::lock_guard< std::mutex > lock( m_mutex );
  kinematics_status = m_fksolver_kdl->JntToCart( m_q_kdl, cartpos );
  if ( kinematics_status >= 0 )
  {
    for ( unsigned int i = 0; i < 3; i++ )
    {
      for ( unsigned int j = 0; j < 3; j++ )
      {
        R[i][j] = cartpos.M.data[3 * i + j];
      }
      t[i] = cartpos.p.data[i];
    }
    fMe.buildFrom( t, R );
  }
#endif

  return fMe;
}

vpHomogeneousMatrix
vpRobotFrankaSim::get_fMe( const vpColVector &q )
{
  if ( q.size() != 7 )
  {
    throw( vpException( vpException::dimensionError, "Joint position vector is not a 7-dim vector (%d)", q.size() ) );
  }
  vpRotationMatrix R;
  vpTranslationVector t;

#ifdef VISP_HAVE_OROCOS_KDL
  KDL::Frame cartpos;
  KDL::JntArray qq( 7 );
  for ( unsigned int i = 0; i < 7; i++ )
  {
    qq( i ) = q[i];
  }
  // Calculate forward kinematics
  int kinematics_status;
  kinematics_status = m_fksolver_kdl->JntToCart( qq, cartpos );
  if ( kinematics_status >= 0 )
  {
    for ( unsigned int i = 0; i < 3; i++ )
    {
      for ( unsigned int j = 0; j < 3; j++ )
      {
        R[i][j] = cartpos.M.data[3 * i + j];
      }
      t[i] = cartpos.p.data[i];
    }
  }
#endif

  vpHomogeneousMatrix fMe( t, R );
  return fMe;
}

void
vpRobotFrankaSim::getMass( vpMatrix &mass )
{
  std::lock_guard< std::mutex > lock( m_mutex );
  mass = franka_model::massMatrix( m_q, m_mL, m_flMcom, m_Il );
}

void
vpRobotFrankaSim::getGravity( vpColVector &gravity )
{
  std::lock_guard< std::mutex > lock( m_mutex );
  gravity = franka_model::gravityVector( m_q, m_mL, m_flMcom, m_g0 );
}

void
vpRobotFrankaSim::getCoriolis( vpColVector &coriolis )
{
  std::lock_guard< std::mutex > lock( m_mutex );
  vpMatrix C( 7, 7 );
  C        = franka_model::coriolisMatrix( m_q, m_dq, m_mL, m_flMcom, m_Il );
  coriolis = C * m_dq;
}

void
vpRobotFrankaSim::getCoriolisMatrix( vpMatrix &coriolis )
{
  std::lock_guard< std::mutex > lock( m_mutex );
  coriolis = franka_model::coriolisMatrix( m_q, m_dq, m_mL, m_flMcom, m_Il );
}

#elif !defined( VISP_BUILD_SHARED_LIBS )
// Work arround to avoid warning: lib*.a(vpRobotFrankaSim.cpp.o) has
// no symbols
void
dummy_vpRobotFrankaSim(){};
#endif