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

	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.

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.

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.

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

bool	hasErrors ()
	Returns whether the robot has errors.

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

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

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

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

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

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

RobotState	state ()
	Returns the current state of the robot.

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

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

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

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

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

std::shared_ptr< const Model >	model () const
	The model of the robot.

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

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.

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.

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

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

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

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

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

Public Attributes
DynamicsLimit< double >	translation_velocity_limit
	Translational velocity limit [m/s].

DynamicsLimit< double >	rotation_velocity_limit
	Rotational velocity limit [rad/s].

DynamicsLimit< double >	elbow_velocity_limit
	Elbow velocity limit [rad/s].

DynamicsLimit< double >	translation_acceleration_limit
	Translational acceleration limit [m/s²].

DynamicsLimit< double >	rotation_acceleration_limit
	Rotational acceleration limit [rad/s²].

DynamicsLimit< double >	elbow_acceleration_limit
	Elbow acceleration limit [rad/s²].

DynamicsLimit< double >	translation_jerk_limit
	Translational jerk limit [m/s³].

DynamicsLimit< double >	rotation_jerk_limit
	Rotational jerk limit [rad/s³].

DynamicsLimit< double >	elbow_jerk_limit
	Elbow jerk limit [rad/s³].

DynamicsLimit< Vector7d >	joint_velocity_limit

DynamicsLimit< Vector7d >	joint_acceleration_limit

DynamicsLimit< Vector7d >	joint_jerk_limit

Static Public Attributes
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.

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 ( )

inline

Returns the current joint positions of the robot.

Returns: The current joint positions of the robot.

◆ currentJointState()

JointState franky::Robot::currentJointState ( )

inline

Returns the current joint state of the robot.

Returns: The current joint state of the robot.

◆ currentJointVelocities()

Vector7d franky::Robot::currentJointVelocities ( )

inline

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.

◆ hasErrors()

bool franky::Robot::hasErrors ( )

Returns whether the robot has errors.

Returns: Whether the robot has errors.

◆ 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.

◆ model()

std::shared_ptr< const Model > franky::Robot::model ( ) const

inline

The model of the robot.

The model is loaded in the constructor, so calling this function does not incur any overhead.

◆ 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()

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

◆ elbow_acceleration_limit

DynamicsLimit<double> franky::Robot::elbow_acceleration_limit

Initial value:

{

"elbow acceleration", 10.0, 4.0, control_mutex_, [this] { return is_in_control_unsafe(); }}

Elbow acceleration limit [rad/s²].

◆ elbow_jerk_limit

DynamicsLimit<double> franky::Robot::elbow_jerk_limit

Initial value:

{

"elbow jerk", 5000.0, 800.0, control_mutex_, [this] { return is_in_control_unsafe(); }}

Elbow jerk limit [rad/s³].

◆ elbow_velocity_limit

DynamicsLimit<double> franky::Robot::elbow_velocity_limit

Initial value:

{

"elbow velocity", 2.175, 2.175, control_mutex_, [this] { return is_in_control_unsafe(); }}

Elbow velocity limit [rad/s].

◆ joint_acceleration_limit

DynamicsLimit<Vector7d> franky::Robot::joint_acceleration_limit

Initial value:

{
    "joint_acceleration", MAX_JOINT_ACC, MAX_JOINT_ACC * 0.3, control_mutex_,
    [this] { return is_in_control_unsafe(); }
  }

◆ joint_jerk_limit

DynamicsLimit<Vector7d> franky::Robot::joint_jerk_limit

Initial value:

{
    "joint_jerk", MAX_JOINT_JERK, MAX_JOINT_JERK * 0.3, control_mutex_,
    [this] { return is_in_control_unsafe(); }
  }

◆ joint_velocity_limit

DynamicsLimit<Vector7d> franky::Robot::joint_velocity_limit

Initial value:

{
    "joint_velocity", MAX_JOINT_VEL, MAX_JOINT_VEL, control_mutex_,
    [this] { return is_in_control_unsafe(); }
  }

◆ rotation_acceleration_limit

DynamicsLimit<double> franky::Robot::rotation_acceleration_limit

Initial value:

{

"rotational acceleration", 25.0, 10.0, control_mutex_, [this] { return is_in_control_unsafe(); }}

Rotational acceleration limit [rad/s²].

◆ rotation_jerk_limit

DynamicsLimit<double> franky::Robot::rotation_jerk_limit

Initial value:

{

"rotational jerk", 12500.0, 2000.0, control_mutex_, [this] { return is_in_control_unsafe(); }}

Rotational jerk limit [rad/s³].

◆ rotation_velocity_limit

DynamicsLimit<double> franky::Robot::rotation_velocity_limit

Initial value:

{

"rotational velocity", 2.5, 2.5, control_mutex_, [this] { return is_in_control_unsafe(); }}

Rotational velocity limit [rad/s].

◆ translation_acceleration_limit

DynamicsLimit<double> franky::Robot::translation_acceleration_limit

Initial value:

{

"translational acceleration", 13.0, 2.0, control_mutex_, [this] { return is_in_control_unsafe(); }}

Translational acceleration limit [m/s²].

◆ translation_jerk_limit

DynamicsLimit<double> franky::Robot::translation_jerk_limit

Initial value:

{

"translational jerk", 6500.0, 500.0, control_mutex_, [this] { return is_in_control_unsafe(); }}

Translational jerk limit [m/s³].

◆ translation_velocity_limit

DynamicsLimit<double> franky::Robot::translation_velocity_limit

Initial value:

{

"translational velocity", 1.7, 0.7, control_mutex_, [this] { return is_in_control_unsafe(); }}

Translational velocity limit [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 Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Robot() [1/2]

◆ Robot() [2/2]

Member Function Documentation

◆ current_control_signal_type()

◆ currentCartesianState()

◆ currentCartesianVelocity()

◆ currentJointPositions()

◆ currentJointState()

◆ currentJointVelocities()

◆ currentPose()

◆ fci_hostname()

◆ hasErrors()

◆ is_in_control()

◆ joinMotion() [1/2]

◆ joinMotion() [2/2]

◆ model()

◆ 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

◆ elbow_acceleration_limit

◆ elbow_jerk_limit

◆ elbow_velocity_limit

◆ joint_acceleration_limit

◆ joint_jerk_limit

◆ joint_velocity_limit

◆ rotation_acceleration_limit

◆ rotation_jerk_limit

◆ rotation_velocity_limit

◆ translation_acceleration_limit

◆ translation_jerk_limit

◆ translation_velocity_limit