Run the examples

Every example takes the robot’s hostname as argv[1] and reads RealtimeConfig from FRANKA_REALTIME: enforce, the default, or ignore for the simulator.

cargo run --release --example <name> -- 172.16.0.2
FRANKA_REALTIME=ignore cargo run --release --example <name> -- 127.0.0.1

The examples that move the arm print a warning and wait for Enter (--yes skips it where offered). Have the user stop button at hand and free space around the arm.

State and link

example	what it does
`echo_robot_state`	Prints `RobotState` for 100 cycles. The arm does not move.
`communication_test`	Moves to the ready pose, then runs a zero-torque loop and reports lost states and the min/avg/max `control_command_success_rate`; exits non-zero when the average is below 0.9.
`dual_communication_test`	The same loop against two robots from one process, a `Robot` per thread, with per-robot accounting. Takes two hostnames, `[--cycles N] [--pin CPU1,CPU2]`.

Motion generators

example	what it does
`generate_joint_position_motion`	A cosine ramp on joints 4, 5 and 7.
`generate_joint_velocity_motion`	A velocity profile on joints 4 to 7.
`generate_cartesian_pose_motion`	A circle in the end effector’s x/z plane.
`generate_cartesian_velocity_motion`	A diagonal x/z sweep.
`readme_joint_move`	The README’s quick example, byte for byte; CI runs it against the simulator.
`move_to_ready`	Moves to libfranka’s “ready” joint configuration. Takes `[speed-factor] [--yes]`, default 0.2.

Torque and impedance

example	what it does
`fer_joint_impedance`	1 kHz joint-impedance torque control on an FER, rate-limited by hand against the robot’s `tau_J_d`; refuses to run on an FR3.
`cartesian_impedance_active_control`	A Cartesian impedance controller whose equilibrium is the start pose, driven through `ActiveControl`’s `read_once` / `write_once`. Takes `[--duration SEC] [--yes]`.
`cartesian_impedance_figure_eight`	The same loop with a moving equilibrium, a figure eight around the start pose, ramped in and out, with a nullspace joint spring and a one-sided virtual floor. Takes `[--duration SEC] [--period SEC] [--amplitude M] [--floor M] [--yes]`.

Target control

example	what it does
`nonrealtime_commander`	A scripted (or stdin) commander sets stepped, bursty, stalling Cartesian targets through `start_cartesian_target_control` (`--bridged`, the default; `--budget V,A,J`; `--rotate` adds a yaw sweep), or hands them to a bare `control_cartesian_pose` so the robot refuses the first step (`--raw`). Takes `[--bridged \| --raw] [--stdin] [--log PATH] [--yes] [--budget V,A,J] [--rotate]`.

Gripper and recovery

example	what it does
`grasp_object`	Homes the Franka Hand, then grasps an object of the given width. Takes `<hostname> <object-width>`.
`automatic_error_recovery`	A command-line `automatic_error_recovery()`: prints the robot mode and error flags before and after clearing a reflex.

Rerun examples (`crates/franka-rerun/examples`)

Run with cargo run --release -p franka-rerun --example <name> -- <hostname>; the viewer must be 0.37.1 (Install).

example	what it does
`reflex_replay`	A slow joint swing with lowered collision thresholds, recorded live with `Recorder`; the control log of the reflex a push provokes is written as a Rerun recording. See Record and replay a run.
`commander_live`	`nonrealtime_commander` streamed live into a viewer: the raw target, the sent and measured position per axis, the arm (with `--meshes DIR`), the derivatives against the limits, the commander’s events. Takes `(--live ADDR \| --out FILE) [--bridged \| --raw] [--stdin] [--budget V,A,J] [--controller joint\|cartesian] [--meshes DIR] [--yes]`; start the viewer first (`rerun --port 9876`).

echo_robot_state, communication_test, the four generate_* examples and grasp_object are ports of libfranka’s examples of the same name (grasp_object always homes and takes no <homing> flag); cartesian_impedance_active_control is libfranka’s cartesian_impedance_control.cpp with the callback replaced by the ActiveControl loop. The Python examples are described in From Python.

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