Expand description
Downloading and loading the FCI v5 (Franka Emika Robot, FER) model library.
model_library::load_from_robot exists in every configuration so that
callers need no cfg of their own; the dlopen-based backend behind it is
the default-on model-library cargo feature, which pulls in libloading.
Without that feature the crate builds with the URDF-based
native_backend only and load_from_robot reports a
crate::FrankaError::Model.
Downloading the FCI v5 model library from the robot (LoadModelLibrary).
Port of franka::LibraryDownloader (src/library_downloader.{h,cpp},
libfranka 0.9.2). On FCI v5 the robot has no URDF to hand out; instead it
serves a compiled model for the architecture and operating system the
client asks for, and libfranka dlopens it. The download is a single
command on the ordinary TCP command socket:
- request:
u8 architecture, u8 system(2 bytes), - response:
u8 status, followed by the shared object as the message tail (header.size - 13bytes: the 12-byte command header plus the status byte are subtracted).
load_from_robot performs that exchange and hands the bytes to
SoModelBackend::from_bytes; the offline entry points
crate::model::Model::from_model_library_bytes and
crate::model::Model::from_model_library_path skip the network.
Functions§
- load_
from_ robot - Downloads the robot’s model library over
networkand builds aModel.