Enum Robot

pub enum Robot {
    Sim(FrankaSim),
    Real(FrankaReal),
}

An abstraction over a robot. Can either be a real robot or a robot in the simulation.

Variants

Sim(FrankaSim)

Real(FrankaReal)

Implementations

impl Robot

pub fn set_angular_damping(&mut self, damping: f64)

sets the angular damping for a simulated robot

pub fn set_joint_friction_force(&mut self, force: f64)

sets the static friction (“stiction”) for a simulated robot for torque control.

pub fn joint_motion(&mut self, speed_factor: f64, q_goal: Vector7)

point to point motion in joint space.

Arguments

• speed_factor - General speed factor in range [0, 1].
• q_goal - Target joint positions.

pub fn control_joint_positions<F: FnMut(&RobotState, &Duration) -> JointPositions>( &mut self, control_callback: F, )

Starts a control loop for a joint position motion generator

Example

    let mut initial_joint_positions = Vector7::zeros();
    let mut time = 0.;
    robot.control_joint_positions(|state, time_step| {
        time += time_step.as_secs_f64();
        if time == 0. {
            initial_joint_positions = state.joint_positions;
        }
        let mut out = JointPositions::from(initial_joint_positions);
        let delta_angle = PI / 8. * (1. - f64::cos(PI / 2.5 * time));
        out.joint_positions[3] += delta_angle;
        out.joint_positions[4] += delta_angle;
        out.joint_positions[6] += delta_angle;
        if time >= 5.0 {
            println!("Finished motion, shutting down example");
            out.is_finished = true;
        }
        out
    })

pub fn control_torques<F: FnMut(&RobotState, &Duration) -> Torques>( &mut self, control_callback: F, )

Starts a control loop for sending joint-level torque commands

Example

    let mut time = 0.;
    let mut rotation_force: f64 = 0.01;
    robot.control_torques(|state, time_step| {
        time += time_step.as_secs_f64();
        if state.joint_positions[6] > PI / 4. + 0.1 && rotation_force.is_sign_positive() {
            rotation_force *= -1.;
        }
        if state.joint_positions[6] < PI / 4. - 0.1 && rotation_force.is_sign_negative() {
            rotation_force *= -1.;
        }
        let mut torques = Torques::from(Vector7::from_column_slice(&[
            0.,
            0.,
            0.,
            0.,
            0.,
            0.,
            rotation_force,
        ]));
        if time > 10. {
            torques.is_finished = true;
        }
        torques
    });

pub fn control_cartesian_pose<F: FnMut(&RobotState, &Duration) -> CartesianPose>( &mut self, control_callback: F, )

Starts a control loop for a Cartesian pose motion generator

Example

    let mut time = 0.;
    let mut initial_pose = CartesianPose::from(Isometry3::identity());
    robot.control_cartesian_pose(|state, time_step| {
        time += time_step.as_secs_f64();
        if time == 0. {
            initial_pose.pose = state.end_effector_pose;
        }
        let radius = 0.3;
        let angle = PI / 4. * (1. - f64::cos(PI / 5. * time));
        let delta_x = radius * f64::sin(angle);
        let delta_z = radius * (f64::cos(angle) - 1.);

        let mut out = CartesianPose::from(initial_pose.pose);
        out.pose.translation.x += delta_x;
        out.pose.translation.z += delta_z;
        if time > 10. {
            out.is_finished = true;
        }
        out
    });

pub fn open_gripper(&mut self, width: f64)

opens the gripper

Arguments

• width - opening width in meter

pub fn close_gripper(&mut self)

closes the gripper

pub fn get_state(&mut self) -> RobotState

queries the robot state

pub fn get_gripper_state(&mut self) -> GripperState

queries the gripper state

pub fn get_jacobian(&mut self) -> Matrix6x7

queries the current space jacobian