Module robot 

The public Robot API.

Port of franka::Robot (libfranka 0.21.2 include/franka/robot.h, src/robot.cpp). The doc comments are libfranka’s, adapted to Rust’s error type.

Threading

Robot is Send + Sync and every method takes &self, so a control loop and a Robot::stop call can run on two threads at the same time; share the robot as an Arc<Robot>. Only one control or read operation may run at a time: a second one returns FrankaError::InvalidOperation.

Example

use franka::{JointPositions, RealtimeConfig, Robot};

let robot = Robot::new("192.168.0.1", RealtimeConfig::Enforce)?;
let initial = robot.read_once()?.q;
let mut time = 0.0;
robot.control_joint_positions(
    |_state, period| {
        time += period.as_secs_f64();
        let delta = std::f64::consts::PI / 8.0 * (1.0 - (std::f64::consts::PI / 2.5 * time).cos());
        let mut q = initial;
        q[3] += delta;
        let output = JointPositions::new(q);
        if time >= 5.0 {
            franka::motion_finished(output)
        } else {
            output
        }
    },
    franka::ControllerMode::JointImpedance,
    true,
    franka::DEFAULT_CUTOFF_FREQUENCY,
)?;

Re-exports

pub use active_control::ActiveMotionGenerator;

pub use active_control::ActiveMotionInput;

pub use active_control::ActiveTorqueControl;

pub use options::RobotOptions;

pub use options::VersionPolicy;

pub use options::VirtualWallCuboid;

pub use target_control::impedance_torques;

pub use target_control::Backend;

pub use target_control::CartesianSent;

pub use target_control::CartesianTargetControl;

pub use target_control::IkOptions;

pub use target_control::ImpedanceGains;

pub use target_control::ImpedanceOptions;

pub use target_control::JointSent;

pub use target_control::JointTargetControl;

pub use target_control::JointTargetControlOptions;

pub use target_control::Leash;

pub use target_control::Settle;

pub use target_control::TargetControlOptions;

Modules

active_control

Externally driven control: read_once / write_once instead of a callback loop.

commands

The TCP commands of the robot server and libfranka’s response handling.

control_loop

The 1 kHz control loop.

logger

Ring buffer of the last robot states and commands of a motion.

options

Connect-time options and the value types the FCI v5 getters return.

robot_impl

Connection, state stream and motion lifecycle.

target_control

Target control: a 1 kHz loop on its own thread that follows targets a low-rate commander sets whenever it likes.

Structs

Robot

Maintains a network connection to the robot, provides the current robot state, gives access to the robot model and allows to control the robot.

Constants

CONTROL_LOCK_MESSAGE

Text of the exception libfranka raises when a second control or read operation is started (franka::assertOwningLock).

DEFAULT_LOG_SIZE

Default size of the control log attached to a crate::error::ControlException (franka::Robot’s log_size default).