Struct RobotImpl 

pub struct RobotImpl { /* private fields */ }

The FCI session plus everything franka::Robot::Impl keeps.

Implementations

impl RobotImpl

pub fn get_robot_model(&self) -> FrankaResult<String>

GetRobotModel: returns the robot’s URDF.

Errors

FrankaError::InvalidOperation on FCI v5, which has no such command — an FER serves its model as a shared object through LoadModelLibrary instead.

pub fn set_filters( &self, joint_position_filter_frequency: f64, joint_velocity_filter_frequency: f64, cartesian_position_filter_frequency: f64, cartesian_velocity_filter_frequency: f64, controller_filter_frequency: f64, ) -> FrankaResult<()>

Robot::setFilters (libfranka 0.9.2 src/robot.cpp:216-225), FCI v5 only.

Errors

FrankaError::InvalidOperation on FCI v10, which dropped the command.

pub fn virtual_wall(&self, id: i32) -> FrankaResult<VirtualWallCuboid>

Robot::getVirtualWall (libfranka 0.9.2 src/robot.cpp:227-231), FCI v5 only.

The 154-byte GetCartesianLimit::Response is mapped exactly as the C++ executeCommand<GetCartesianLimit> specialisation does (src/robot_impl.h:284-300): p_frame is the response’s object_frame, active its object_activation, and id is echoed from the request rather than read off the wire.

Errors

FrankaError::InvalidOperation on FCI v10, which dropped the command.

pub fn set_collision_behavior( &self, lower_torque_thresholds_acceleration: &[f64; 7], upper_torque_thresholds_acceleration: &[f64; 7], lower_torque_thresholds_nominal: &[f64; 7], upper_torque_thresholds_nominal: &[f64; 7], lower_force_thresholds_acceleration: &[f64; 6], upper_force_thresholds_acceleration: &[f64; 6], lower_force_thresholds_nominal: &[f64; 6], upper_force_thresholds_nominal: &[f64; 6], ) -> FrankaResult<()>

Robot::setCollisionBehavior with all eight threshold arrays.

pub fn set_joint_impedance(&self, K_theta: &[f64; 7]) -> FrankaResult<()>

Robot::setJointImpedance.

pub fn set_cartesian_impedance(&self, K_x: &[f64; 6]) -> FrankaResult<()>

Robot::setCartesianImpedance.

pub fn set_guiding_mode( &self, guiding_mode: &[bool; 6], elbow: bool, ) -> FrankaResult<()>

Robot::setGuidingMode.

pub fn set_k(&self, EE_T_K: &[f64; 16]) -> FrankaResult<()>

Robot::setK.

pub fn set_ee(&self, NE_T_EE: &[f64; 16]) -> FrankaResult<()>

Robot::setEE.

pub fn set_load( &self, load_mass: f64, F_x_Cload: &[f64; 3], load_inertia: &[f64; 9], ) -> FrankaResult<()>

Robot::setLoad.

pub fn automatic_error_recovery(&self) -> FrankaResult<()>

Robot::automaticErrorRecovery.

pub fn stop(&self) -> FrankaResult<()>

Robot::stop: a bare StopMove, callable while a control loop is running.

impl RobotImpl

pub fn update_motion( &self, motion_command: Option<&MotionGeneratorCommand>, control_command: Option<&ControllerCommand>, ) -> FrankaResult<RobotState>

One control cycle: send the command, wait for the next state, log both (Robot::Impl::updateMotion).

pub fn read_once(&self) -> FrankaResult<RobotState>

Waits for the next state without sending a command (Robot::Impl::readOnce).

pub fn throw_on_motion_error( &self, robot_state: &RobotState, motion_id: u32, ) -> FrankaResult<()>

Detects a motion error and turns the Move reply into a ControlException (Robot::Impl::throwOnMotionError).

pub fn start_motion( &self, controller_mode: MoveControllerMode, motion_generator_mode: MoveMotionGeneratorMode, maximum_path_deviation: Deviation, maximum_goal_pose_deviation: Deviation, ) -> FrankaResult<u32>

Starts a motion (Robot::Impl::startMotion).

Sends Move — 113 bytes on FCI v10 (with use_async_motion_generator = false and zero maximum velocities), 56 on FCI v5, which has neither field — waits for MotionStarted, then spins the control cycle until the state reports the requested modes, polling for an early terminal Move reply on the way.

Errors

FrankaError::InvalidArgument when motion_generator_mode is MoveMotionGeneratorMode::None on FCI v5, which has no torque-only mode. Torque control on an FER runs a joint-velocity generator commanding zero velocities instead; RobotImpl::torque_only_motion_mode picks the right mode for the caller.

pub fn finish_motion( &self, motion_id: u32, motion_command: Option<&MotionGeneratorCommand>, control_command: Option<&ControllerCommand>, ) -> FrankaResult<()>

Ends a motion regularly (Robot::Impl::finishMotion).

The last command is repeated with the “finished” flag set until the robot leaves the motion, then the terminal Move reply is claimed.

pub fn cancel_motion(&self, motion_id: u32) -> FrankaResult<()>

Aborts a motion (Robot::Impl::cancelMotion).

Sends exactly one StopMove, drains the state stream until the robot is idle again and discards the Move reply if it has already arrived.

pub fn motion_generator_running(&self) -> bool

Whether a motion generator is active according to the last state (Robot::Impl::motionGeneratorRunning).

pub fn controller_running(&self) -> bool

Whether an external controller is active according to the last state (Robot::Impl::controllerRunning).

impl RobotImpl

pub fn new( franka_address: &str, realtime_config: RealtimeConfig, log_size: usize, ) -> FrankaResult<RobotImpl>

Connects to franka_address and performs libfranka’s full startup sequence with the default VersionPolicy::Auto.

pub fn new_with_policy( franka_address: &str, realtime_config: RealtimeConfig, log_size: usize, policy: VersionPolicy, ) -> FrankaResult<RobotImpl>

RobotImpl::new with an explicit VersionPolicy.

Port of Robot::Impl::Impl for both supported protocol versions: raise the calling thread to the highest realtime priority (fatal only with RealtimeConfig::Enforce), check the kernel, run the Connect handshake and wait for the first robot state.

On FCI v10 the URDF is then fetched with GetRobotModel and the position-dependent joint velocity limits are derived from it, exactly as libfranka 0.21.2 does. FCI v5 has neither command nor envelope — libfranka 0.9.2’s constructor stops after the first state (src/robot_impl.cpp:19-27) — so the FER path skips both.

VersionPolicy::Auto tries FCI v10 first and, if the server answers kIncompatibleLibraryVersion reporting version 5, closes both sockets and reconnects once as FCI v5. Any other server version is returned as the FrankaError::IncompatibleVersion it is.

pub fn version(&self) -> FciVersion

The FCI protocol version this session speaks (Robot::fci_version).

pub fn server_version(&self) -> u16

The FCI version reported by the server (Robot::Impl::serverVersion).

pub fn realtime_config(&self) -> RealtimeConfig

The realtime configuration this instance was created with (Robot::Impl::realtimeConfig).

pub fn robot_model_urdf(&self) -> &str

The URDF fetched at connection time (Robot::Impl::robotModelUrdf).

pub fn upper_joint_velocity_limits(&self, q: &[f64; 7]) -> [f64; 7]

Upper joint velocity limits at q (Robot::Impl::getUpperJointVelocityLimits).

FCI v5 has no position-dependent envelope: libfranka 0.9.2 rate limits against the flat kMaxJointVelocity of include/franka/rate_limiting.h, so q is ignored there.

pub fn lower_joint_velocity_limits(&self, q: &[f64; 7]) -> [f64; 7]

Lower joint velocity limits at q (Robot::Impl::getLowerJointVelocityLimits).

See RobotImpl::upper_joint_velocity_limits for the FCI v5 case.

pub fn load_model_v5(&self) -> FrankaResult<Model>

Loads the FER’s model library over LoadModelLibrary (FCI v5’s Robot::loadModel).

Downloads libfcimodels.so from the robot and binds its thirty symbols (crate::model::load_from_robot).

Trait Implementations

impl Debug for RobotImpl

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.