Module v5 

FCI version 5 wire structs (Franka Emika Robot, FER), ported from libfranka 0.9.2 (common/include/research_interface/robot/{service_types.h,rbk_types.h}).

Differences from crate::wire::robot::v10 at a glance:

• the Command numbering differs (GetCartesianLimit and SetFilters exist, GetRobotModel does not, LoadModelLibrary replaces it),
• Move::Request is 56 bytes instead of 113 and has no kNone motion generator mode,
• every status enum is shorter (no safety-function values),
• the UDP RobotState is 2373 bytes of double with no accelerometers (v10: 1377 bytes of float), and RobotCommand is 370 bytes because ControllerCommand has no torque_command_finished flag.

Re-exports

pub use rbk_types::*;

pub use service_types::*;

Modules

rbk_types

Robot UDP state and command messages of FCI v5, ported from common/include/research_interface/robot/rbk_types.h (libfranka 0.9.2).

service_types

Robot TCP command messages of FCI v5, ported from common/include/research_interface/robot/service_types.h (libfranka 0.9.2).

Constants

ROBOT_VERSION

FCI library version implemented by this module (research_interface::robot::kVersion, service_types.h:17).