A class representing a Franka robot. More...

#include <robot.hpp>

Inheritance diagram for franky::Robot:

Classes
struct	Params
	Global parameters for the robot. More...

Public Types
template<size_t dims>
using	ScalarOrArray = std::variant< double, std::array< double, dims >, Eigen::Vector< double, dims > >

Public Member Functions
	Robot (const std::string &fci_hostname)
	Connects to a robot at the given FCI IP address. More...

	Robot (const std::string &fci_hostname, const Params &params)

void	setCollisionBehavior (const ScalarOrArray< 7 > &torque_threshold, const ScalarOrArray< 6 > &force_threshold)
	Set the collision behavior of the robot. More...

void	setCollisionBehavior (const ScalarOrArray< 7 > &lower_torque_threshold, const ScalarOrArray< 7 > &upper_torque_threshold, const ScalarOrArray< 6 > &lower_force_threshold, const ScalarOrArray< 6 > &upper_force_threshold)
	Set the collision behavior of the robot. More...

void	setCollisionBehavior (const ScalarOrArray< 7 > &lower_torque_threshold_acceleration, const ScalarOrArray< 7 > &upper_torque_threshold_acceleration, const ScalarOrArray< 7 > &lower_torque_threshold_nominal, const ScalarOrArray< 7 > &upper_torque_threshold_nominal, const ScalarOrArray< 6 > &lower_force_threshold_acceleration, const ScalarOrArray< 6 > &upper_force_threshold_acceleration, const ScalarOrArray< 6 > &lower_force_threshold_nominal, const ScalarOrArray< 6 > &upper_force_threshold_nominal)
	Set the collision behavior of the robot. More...

bool	recoverFromErrors ()
	Calls the automatic error recovery of the robot and returns whether the recovery was successful. More...

bool	hasErrors ()
	Returns whether the robot has errors. More...

RobotPose	currentPose ()
	Returns the current pose of the robot. More...

RobotVelocity	currentCartesianVelocity ()
	Returns the current cartesian velocity of the robot. More...

CartesianState	currentCartesianState ()
	Returns the current cartesian state of the robot. More...

JointState	currentJointState ()
	Returns the current joint state of the robot. More...

Vector7d	currentJointPositions ()
	Returns the current joint positions of the robot. More...

Vector7d	currentJointVelocities ()
	Returns the current joint velocities of the robot. More...

franka::RobotState	state ()
	Returns the current state of the robot. More...

RelativeDynamicsFactor	relative_dynamics_factor ()
	Returns the current global relative dynamics factor of the robot. More...

void	setRelativeDynamicsFactor (const RelativeDynamicsFactor &relative_dynamics_factor)
	Sets the global relative dynamics factor of the robot. More...

bool	is_in_control ()
	Whether the robot is currently in control, i.e. a motion is being executed. More...

std::string	fci_hostname () const
	The hostname of the robot. More...

std::optional< ControlSignalType >	current_control_signal_type ()
	The type of the current control signal. More...

bool	joinMotion ()
	Wait for the current motion to finish. Throw any exceptions that occurred during the motion. More...

template<class Rep , class Period >
bool	joinMotion (const std::chrono::duration< Rep, Period > &timeout)
	Wait for the current motion to finish with a timeout. Throw any exceptions that occurred during the motion. More...

bool	pollMotion ()
	Check whether the robot is still in motion. This function is non-blocking and returns immediately. Throw any exceptions that occurred during the motion. More...

void	move (const std::shared_ptr< Motion< franka::CartesianPose >> &motion, bool async=false)
	Execute the given motion. More...

void	move (const std::shared_ptr< Motion< franka::CartesianVelocities >> &motion, bool async=false)
	Execute the given motion. More...

void	move (const std::shared_ptr< Motion< franka::JointPositions >> &motion, bool async=false)
	Execute the given motion. More...

void	move (const std::shared_ptr< Motion< franka::JointVelocities >> &motion, bool async=false)
	Execute the given motion. More...

void	move (const std::shared_ptr< Motion< franka::Torques >> &motion, bool async=false)
	Execute the given motion. More...

Static Public Member Functions
static Vector7d	inverseKinematics (const Affine &target, const Vector7d &q0)
	Calculate the inverse kinematics for the given target pose. More...

static Affine	forwardKinematics (const Vector7d &q)
	Calculate the forward kinematics for the given joint positions. More...

Public Attributes
const KinematicChain< 7 >	kinematics
	The kinematic chain of the robot. More...

Static Public Attributes
static constexpr double	max_translation_velocity {1.7}

static constexpr double	max_rotation_velocity {2.5}

static constexpr double	max_elbow_velocity {2.175}

static constexpr double	max_translation_acceleration {13.0}

static constexpr double	max_rotation_acceleration {25.0}

static constexpr double	max_elbow_acceleration {10.0}

static constexpr double	max_translation_jerk {6500.0}

static constexpr double	max_rotation_jerk {12500.0}

static constexpr double	max_elbow_jerk {5000.0}

static constexpr std::array< double, 7 >	max_joint_velocity

static constexpr std::array< double, 7 >	max_joint_acceleration

static constexpr std::array< double, 7 >	max_joint_jerk

static constexpr size_t	degrees_of_freedoms {7}

static constexpr double	control_rate {0.001}

Detailed Description

A class representing a Franka robot.

This class extends the franka::Robot class and adds additional functionality to it.

Member Typedef Documentation

◆ ScalarOrArray

template<size_t dims>

using franky::Robot::ScalarOrArray = std::variant<double, std::array<double, dims>, Eigen::Vector<double, dims> >

Constructor & Destructor Documentation

◆ Robot() [1/2]

franky::Robot::Robot ( const std::string & fci_hostname )

explicit

Connects to a robot at the given FCI IP address.

Parameters

fci_hostname The hostname or IP address of the robot.

◆ Robot() [2/2]

franky::Robot::Robot	(	const std::string &	fci_hostname,
		const Params &	params
	)

explicit

Parameters

fci_hostname	The hostname or IP address of the robot.
params	The parameters for the robot.

Member Function Documentation

◆ current_control_signal_type()

std::optional< ControlSignalType > franky::Robot::current_control_signal_type ( )

The type of the current control signal.

◆ currentCartesianState()

CartesianState franky::Robot::currentCartesianState ( )

inline

Returns the current cartesian state of the robot.

Returns: The current cartesian state of the robot.

◆ currentCartesianVelocity()

RobotVelocity franky::Robot::currentCartesianVelocity ( )

inline

Returns the current cartesian velocity of the robot.

Returns: The current cartesian velocity of the robot.

◆ currentJointPositions()

Vector7d franky::Robot::currentJointPositions ( )

Returns the current joint positions of the robot.

Returns: The current joint positions of the robot.

◆ currentJointState()

JointState franky::Robot::currentJointState ( )

Returns the current joint state of the robot.

Returns: The current joint state of the robot.

◆ currentJointVelocities()

Vector7d franky::Robot::currentJointVelocities ( )

Returns the current joint velocities of the robot.

Returns: The current joint velocities of the robot.

◆ currentPose()

RobotPose franky::Robot::currentPose ( )

inline

Returns the current pose of the robot.

Returns: The current pose of the robot.

◆ fci_hostname()

std::string franky::Robot::fci_hostname ( ) const

The hostname of the robot.

◆ forwardKinematics()

Affine franky::Robot::forwardKinematics ( const Vector7d & q )

static

Calculate the forward kinematics for the given joint positions.

Parameters

q	The joint positions.

Returns: The forward kinematics.

◆ hasErrors()

bool franky::Robot::hasErrors ( )

Returns whether the robot has errors.

Returns: Whether the robot has errors.

◆ inverseKinematics()

Vector7d franky::Robot::inverseKinematics	(	const Affine &	target,
		const Vector7d &	q0
	)

static

Calculate the inverse kinematics for the given target pose.

Parameters

target	The target pose.
q0	The initial guess for the joint positions.

Returns: A vector containing the joint positions.

◆ is_in_control()

bool franky::Robot::is_in_control ( )

Whether the robot is currently in control, i.e. a motion is being executed.

◆ joinMotion() [1/2]

bool franky::Robot::joinMotion ( )

inline

Wait for the current motion to finish. Throw any exceptions that occurred during the motion.

◆ joinMotion() [2/2]

template<class Rep , class Period >

bool franky::Robot::joinMotion ( const std::chrono::duration< Rep, Period > & timeout )

inline

Wait for the current motion to finish with a timeout. Throw any exceptions that occurred during the motion.

After the timeout has expired, the function will return false.

Parameters

timeout The timeout to wait for the motion to finish.

Returns: Whether the motion finished before the timeout expired.

◆ move() [1/5]

void franky::Robot::move	(	const std::shared_ptr< Motion< franka::CartesianPose >> &	motion,
		bool	async = `false`
	)

inline

Execute the given motion.

Parameters

motion	The motion to execute.
async	Whether to execute the motion asynchronously.

◆ move() [2/5]

void franky::Robot::move	(	const std::shared_ptr< Motion< franka::CartesianVelocities >> &	motion,
		bool	async = `false`
	)

inline

Execute the given motion.

Parameters

motion	The motion to execute.
async	Whether to execute the motion asynchronously.

◆ move() [3/5]

void franky::Robot::move	(	const std::shared_ptr< Motion< franka::JointPositions >> &	motion,
		bool	async = `false`
	)

inline

Execute the given motion.

Parameters

motion	The motion to execute.
async	Whether to execute the motion asynchronously.

◆ move() [4/5]

void franky::Robot::move	(	const std::shared_ptr< Motion< franka::JointVelocities >> &	motion,
		bool	async = `false`
	)

inline

Execute the given motion.

Parameters

motion	The motion to execute.
async	Whether to execute the motion asynchronously.

◆ move() [5/5]

void franky::Robot::move	(	const std::shared_ptr< Motion< franka::Torques >> &	motion,
		bool	async = `false`
	)

inline

Execute the given motion.

Parameters

motion	The motion to execute.
async	Whether to execute the motion asynchronously.

◆ pollMotion()

bool franky::Robot::pollMotion ( )

inline

Check whether the robot is still in motion. This function is non-blocking and returns immediately. Throw any exceptions that occurred during the motion.

Returns: Whether the robot is still in motion.

◆ recoverFromErrors()

bool franky::Robot::recoverFromErrors ( )

Calls the automatic error recovery of the robot and returns whether the recovery was successful.

Returns: Whether the recovery was successful.

◆ relative_dynamics_factor()

RelativeDynamicsFactor franky::Robot::relative_dynamics_factor ( )

Returns the current global relative dynamics factor of the robot.

Returns: The current relative dynamics factor of the robot.

◆ setCollisionBehavior() [1/3]

void franky::Robot::setCollisionBehavior	(	const ScalarOrArray< 7 > &	lower_torque_threshold,
		const ScalarOrArray< 7 > &	upper_torque_threshold,
		const ScalarOrArray< 6 > &	lower_force_threshold,
		const ScalarOrArray< 6 > &	upper_force_threshold
	)

Set the collision behavior of the robot.

Parameters

lower_torque_threshold	The lower torque threshold for the collision behavior in Nm.
upper_torque_threshold	The upper torque threshold for the collision behavior in Nm.
lower_force_threshold	The lower force threshold for the collision behavior in N.
upper_force_threshold	The upper force threshold for the collision behavior in N.

◆ setCollisionBehavior() [2/3]

void franky::Robot::setCollisionBehavior	(	const ScalarOrArray< 7 > &	lower_torque_threshold_acceleration,
		const ScalarOrArray< 7 > &	upper_torque_threshold_acceleration,
		const ScalarOrArray< 7 > &	lower_torque_threshold_nominal,
		const ScalarOrArray< 7 > &	upper_torque_threshold_nominal,
		const ScalarOrArray< 6 > &	lower_force_threshold_acceleration,
		const ScalarOrArray< 6 > &	upper_force_threshold_acceleration,
		const ScalarOrArray< 6 > &	lower_force_threshold_nominal,
		const ScalarOrArray< 6 > &	upper_force_threshold_nominal
	)

Set the collision behavior of the robot.

Parameters

lower_torque_threshold_acceleration	The lower torque threshold for the collision behavior in Nm during acceleration.
upper_torque_threshold_acceleration	The upper torque threshold for the collision behavior in Nm during acceleration.
lower_torque_threshold_nominal	The lower torque threshold for the collision behavior in Nm during nominal operation.
upper_torque_threshold_nominal	The upper torque threshold for the collision behavior in Nm during nominal operation.
lower_force_threshold_acceleration	The lower force threshold for the collision behavior in N during acceleration.
upper_force_threshold_acceleration	The upper force threshold for the collision behavior in N during acceleration.
lower_force_threshold_nominal	The lower force threshold for the collision behavior in N during nominal operation.
upper_force_threshold_nominal	The upper force threshold for the collision behavior in N during nominal operation.

◆ setCollisionBehavior() [3/3]

void franky::Robot::setCollisionBehavior	(	const ScalarOrArray< 7 > &	torque_threshold,
		const ScalarOrArray< 6 > &	force_threshold
	)

Set the collision behavior of the robot.

Parameters

torque_threshold	The torque threshold for the collision behavior in Nm.
force_threshold	The force threshold for the collision behavior in N.

◆ setRelativeDynamicsFactor()

void franky::Robot::setRelativeDynamicsFactor ( const RelativeDynamicsFactor & relative_dynamics_factor )

Sets the global relative dynamics factor of the robot.

Parameters

relative_dynamics_factor The relative dynamics factor to set.

◆ state()

franka::RobotState franky::Robot::state ( )

Returns the current state of the robot.

Returns: The current state of the robot.

Member Data Documentation

◆ control_rate

constexpr double franky::Robot::control_rate {0.001}

staticconstexpr

Control rate of the robot [s]

◆ degrees_of_freedoms

constexpr size_t franky::Robot::degrees_of_freedoms {7}

staticconstexpr

Number of degrees of freedom of the robot

◆ kinematics

const KinematicChain<7> franky::Robot::kinematics

Initial value:

= KinematicChain<7>(
      {{
           {0.0, 0.333, 0.0},
           {-M_PI / 2, 0.0, 0.0},
           {M_PI / 2, 0.316, 0.0},
           {M_PI / 2, 0.0, 0.0825},
           {-M_PI / 2, 0.384, -0.0825},
           {M_PI / 2, 0.0, 0.0},
           {M_PI / 2, 0.0, 0.088}}},
      Affine().fromPositionOrientationScale(
          Eigen::Vector3d(0, 0, 0.107),
          Euler(M_PI / 4, 0, M_PI),
          Eigen::Matrix<double, 3, 1>::Ones())
  )

The kinematic chain of the robot.

◆ max_elbow_acceleration

constexpr double franky::Robot::max_elbow_acceleration {10.0}

staticconstexpr

Maximum elbow acceleration [rad/s²]

◆ max_elbow_jerk

constexpr double franky::Robot::max_elbow_jerk {5000.0}

staticconstexpr

Maximum elbow jerk [rad/s³]

◆ max_elbow_velocity

constexpr double franky::Robot::max_elbow_velocity {2.175}

staticconstexpr

Maximum elbow velocity [rad/s]

◆ max_joint_acceleration

constexpr std::array<double, 7> franky::Robot::max_joint_acceleration

staticconstexpr

Initial value:

{
      {15.0, 7.5, 10.0, 12.5, 15.0, 20.0, 20.0}
  }

Maximum joint acceleration [rad/s²]

◆ max_joint_jerk

constexpr std::array<double, 7> franky::Robot::max_joint_jerk

staticconstexpr

Initial value:

{
      {7500.0, 3750.0, 5000.0, 6250.0, 7500.0, 10000.0, 10000.0}
  }

Maximum joint jerk [rad/s³]

◆ max_joint_velocity

constexpr std::array<double, 7> franky::Robot::max_joint_velocity

staticconstexpr

Initial value:

{
      {2.175, 2.175, 2.175, 2.175, 2.610, 2.610, 2.610}
  }

Maximum joint velocity [rad/s]

◆ max_rotation_acceleration

constexpr double franky::Robot::max_rotation_acceleration {25.0}

staticconstexpr

Maximum rotational acceleration [rad/s²]

◆ max_rotation_jerk

constexpr double franky::Robot::max_rotation_jerk {12500.0}

staticconstexpr

Maximum rotational jerk [rad/s³]

◆ max_rotation_velocity

constexpr double franky::Robot::max_rotation_velocity {2.5}

staticconstexpr

Maximum rotational velocity [rad/s]

◆ max_translation_acceleration

constexpr double franky::Robot::max_translation_acceleration {13.0}

staticconstexpr

Maximum translational acceleration [m/s²]

◆ max_translation_jerk

constexpr double franky::Robot::max_translation_jerk {6500.0}

staticconstexpr

Maximum translational jerk [m/s³]

◆ max_translation_velocity

constexpr double franky::Robot::max_translation_velocity {1.7}

staticconstexpr

Maximum translational velocity [m/s]

The documentation for this class was generated from the following files:

/home/runner/work/franky/franky/include/franky/robot.hpp
/home/runner/work/franky/franky/src/robot.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ ScalarOrArray

Constructor & Destructor Documentation

◆ Robot() [1/2]

◆ Robot() [2/2]

Member Function Documentation

◆ current_control_signal_type()

◆ currentCartesianState()

◆ currentCartesianVelocity()

◆ currentJointPositions()

◆ currentJointState()

◆ currentJointVelocities()

◆ currentPose()

◆ fci_hostname()

◆ forwardKinematics()

◆ hasErrors()

◆ inverseKinematics()

◆ is_in_control()

◆ joinMotion() [1/2]

◆ joinMotion() [2/2]

◆ move() [1/5]

◆ move() [2/5]

◆ move() [3/5]

◆ move() [4/5]

◆ move() [5/5]

◆ pollMotion()

◆ recoverFromErrors()

◆ relative_dynamics_factor()

◆ setCollisionBehavior() [1/3]

◆ setCollisionBehavior() [2/3]

◆ setCollisionBehavior() [3/3]

◆ setRelativeDynamicsFactor()

◆ state()

Member Data Documentation

◆ control_rate

◆ degrees_of_freedoms

◆ kinematics

◆ max_elbow_acceleration

◆ max_elbow_jerk

◆ max_elbow_velocity

◆ max_joint_acceleration

◆ max_joint_jerk

◆ max_joint_velocity

◆ max_rotation_acceleration

◆ max_rotation_jerk

◆ max_rotation_velocity

◆ max_translation_acceleration

◆ max_translation_jerk

◆ max_translation_velocity