Struct franka::robot::robot_state::RobotState

source · [−]

pub struct RobotState {Show 47 fields
    pub O_T_EE: [f64; 16],
    pub O_T_EE_d: [f64; 16],
    pub F_T_EE: [f64; 16],
    pub F_T_NE: [f64; 16],
    pub NE_T_EE: [f64; 16],
    pub EE_T_K: [f64; 16],
    pub m_ee: f64,
    pub I_ee: [f64; 9],
    pub F_x_Cee: [f64; 3],
    pub m_load: f64,
    pub I_load: [f64; 9],
    pub F_x_Cload: [f64; 3],
    pub m_total: f64,
    pub I_total: [f64; 9],
    pub F_x_Ctotal: [f64; 3],
    pub elbow: [f64; 2],
    pub elbow_d: [f64; 2],
    pub elbow_c: [f64; 2],
    pub delbow_c: [f64; 2],
    pub ddelbow_c: [f64; 2],
    pub tau_J: [f64; 7],
    pub tau_J_d: [f64; 7],
    pub dtau_J: [f64; 7],
    pub q: [f64; 7],
    pub q_d: [f64; 7],
    pub dq: [f64; 7],
    pub dq_d: [f64; 7],
    pub ddq_d: [f64; 7],
    pub joint_contact: [f64; 7],
    pub cartesian_contact: [f64; 6],
    pub joint_collision: [f64; 7],
    pub cartesian_collision: [f64; 6],
    pub tau_ext_hat_filtered: [f64; 7],
    pub O_F_ext_hat_K: [f64; 6],
    pub K_F_ext_hat_K: [f64; 6],
    pub O_dP_EE_d: [f64; 6],
    pub O_ddP_O: [f64; 3],
    pub O_T_EE_c: [f64; 16],
    pub O_dP_EE_c: [f64; 6],
    pub O_ddP_EE_c: [f64; 6],
    pub theta: [f64; 7],
    pub dtheta: [f64; 7],
    pub current_errors: FrankaErrors,
    pub last_motion_errors: FrankaErrors,
    pub control_command_success_rate: f64,
    pub robot_mode: RobotMode,
    pub time: Duration,
}

Expand description

Describes the robot state.

Fields

O_T_EE: [f64; 16]

$^{O}T_{EE}$

Measured end effector pose in base frame. Pose is represented as a 4x4 matrix in column-major format.

O_T_EE_d: [f64; 16]

${^OT_{EE}}_{d}$

Last desired end effector pose of motion generation in base frame. Pose is represented as a 4x4 matrix in column-major format.

F_T_EE: [f64; 16]

$^{F}T_{EE}$

End effector frame pose in flange frame. Pose is represented as a 4x4 matrix in column-major format.

See

F_T_NE
NE_T_EE
Robot for an explanation of the NE and EE frames.

F_T_NE: [f64; 16]

$^{F}T_{NE}$

Nominal end effector frame pose in flange frame. Pose is represented as a 4x4 matrix in column-major format.

See

F_T_NE
NE_T_EE
Robot for an explanation of the NE and EE frames.

NE_T_EE: [f64; 16]

$^{NE}T_{EE}$

End effector frame pose in nominal end effector frame. Pose is represented as a 4x4 matrix in column-major format.

See

F_T_NE
NE_T_EE
Robot for an explanation of the NE and EE frames.

EE_T_K: [f64; 16]

$^{EE}T_{K}$

Stiffness frame pose in end effector frame. Pose is represented as a 4x4 matrix in column-major format.

See also K-Frame

m_ee: f64

$m_{EE}$

Configured mass of the end effector.

I_ee: [f64; 9]

$I_{EE}$

Configured rotational inertia matrix of the end effector load with respect to center of mass.

F_x_Cee: [f64; 3]

$^{F}x_{C_{EE}}$

Configured center of mass of the end effector load with respect to flange frame.

m_load: f64

$m_{load}$

Configured mass of the external load.

I_load: [f64; 9]

$I_{load}$

Configured rotational inertia matrix of the external load with respect to center of mass.

F_x_Cload: [f64; 3]

$^{F}x_{C_{load}}$

Configured center of mass of the external load with respect to flange frame.

m_total: f64

$m_{total}$

Sum of the mass of the end effector and the external load.

I_total: [f64; 9]

$I_{total}$

Combined rotational inertia matrix of the end effector load and the external load with respect to the center of mass.

F_x_Ctotal: [f64; 3]

$^{F}x_{C_{total}}$

Combined center of mass of the end effector load and the external load with respect to flange frame.

elbow: [f64; 2]

Elbow configuration.

The values of the array are:

[0] Position of the 3rd joint in [rad].
[1] Sign of the 4th joint. Can be +1 or -1.

elbow_d: [f64; 2]

Desired elbow configuration.

The values of the array are:

[0] Position of the 3rd joint in [rad].
[1] Sign of the 4th joint. Can be +1 or -1.

elbow_c: [f64; 2]

Commanded elbow configuration.

The values of the array are:

[0] Position of the 3rd joint in [rad].
[1] Sign of the 4th joint. Can be +1 or -1.

delbow_c: [f64; 2]

Commanded elbow velocity.

The values of the array are:

[0] Velocity of the 3rd joint in [rad/s].
[1] Sign of the 4th joint. Can be +1 or -1.

ddelbow_c: [f64; 2]

Commanded elbow acceleration.

The values of the array are:

[0] Acceleration of the 3rd joint in [rad/s^2].
[1] Sign of the 4th joint. Can be +1 or -1.

tau_J: [f64; 7]

$\tau_{J}$

Measured link-side joint torque sensor signals. Unit: [Nm]

tau_J_d: [f64; 7]

${\tau_J}_d$

Desired link-side joint torque sensor signals without gravity. Unit: [Nm]

dtau_J: [f64; 7]

$\dot{\tau_{J}}$

Derivative of measured link-side joint torque sensor signals. Unit: [Nm/s]

q: [f64; 7]

$q$

Measured joint position. Unit: [rad]

q_d: [f64; 7]

$q_d$

Desired joint position. Unit: [rad]

dq: [f64; 7]

$\dot{q}$

Measured joint velocity. Unit: [rad/s]

dq_d: [f64; 7]

$\dot{q}_d$

Desired joint velocity. Unit: [rad/s]

ddq_d: [f64; 7]

$\ddot{q}_d$

Desired joint acceleration. Unit: [rad/s^2]

joint_contact: [f64; 7]

Indicates which contact level is activated in which joint. After contact disappears, value turns to zero.

See Robot::set_collision_behavior for setting sensitivity values.

cartesian_contact: [f64; 6]

Indicates which contact level is activated in which Cartesian dimension (x,y,z,R,P,Y). After contact disappears, the value turns to zero.

See Robot::set_collision_behavior for setting sensitivity values.

joint_collision: [f64; 7]

Indicates which contact level is activated in which joint. After contact disappears, the value stays the same until a reset command is sent.

See Robot::set_collision_behavior for setting sensitivity values.

See Robot::automatic_error_recovery for performing a reset after a collision.

cartesian_collision: [f64; 6]

Indicates which contact level is activated in which Cartesian dimension (x,y,z,R,P,Y). After contact disappears, the value stays the same until a reset command is sent.

See Robot::set_collision_behavior for setting sensitivity values.

See Robot::automatic_error_recovery for performing a reset after a collision.

tau_ext_hat_filtered: [f64; 7]

$\hat{\tau}_{\text{ext}}$

External torque, filtered. Unit: [Nm]

O_F_ext_hat_K: [f64; 6]

$^OF_{K,\text{ext}}$

Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the base frame. See also @ref k-frame “K frame”. Unit: [N,N,N,Nm,Nm,Nm].

K_F_ext_hat_K: [f64; 6]

$^{K}F_{K,\text{ext}}$

Estimated external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffness frame. See also @ref k-frame “K frame”. Unit: [N,N,N,Nm,Nm,Nm].

O_dP_EE_d: [f64; 6]

${^OdP_{EE}}_{d}$

Desired end effector twist in base frame. Unit: [m/s,m/s,m/s,rad/s,rad/s,rad/s]

O_ddP_O: [f64; 3]

${^OddP_O}$

Linear component of the acceleration of the robot’s base, expressed in frame parallel to the base frame, i.e. the base’s translational acceleration. If the base is resting this shows the direction of the gravity vector. It is hardcoded for now to {0, 0, -9.81}.

O_T_EE_c: [f64; 16]

${^OT_{EE}}_{c}$