franka/wire/robot/v5/mod.rs
1//! FCI version 5 wire structs (Franka Emika Robot, FER), ported from libfranka 0.9.2
2//! (`common/include/research_interface/robot/{service_types.h,rbk_types.h}`).
3//!
4//! Differences from [`crate::wire::robot::v10`] at a glance:
5//!
6//! - the `Command` numbering differs (`GetCartesianLimit` and `SetFilters` exist,
7//! `GetRobotModel` does not, `LoadModelLibrary` replaces it),
8//! - `Move::Request` is 56 bytes instead of 113 and has no `kNone` motion generator mode,
9//! - every status enum is shorter (no safety-function values),
10//! - the UDP `RobotState` is 2373 bytes of `double` with no accelerometers (v10: 1377 bytes of
11//! `float`), and `RobotCommand` is 370 bytes because `ControllerCommand` has no
12//! `torque_command_finished` flag.
13
14pub mod rbk_types;
15pub mod service_types;
16
17pub use rbk_types::*;
18pub use service_types::*;
19
20/// FCI library version implemented by this module (`research_interface::robot::kVersion`,
21/// `service_types.h:17`).
22pub const ROBOT_VERSION: u16 = 5;