This tutorial runs real-time joint floating with gentle velocity damping, gravity compensation, and soft protection against position limits. This example is ideal for verifying the system's whole-loop real-timeliness, accuracy of the robot dynamics model, and joint torque control performance. If everything works well, all joints should float smoothly.
#include <iostream>
#include <string>
#include <thread>
#include <atomic>
namespace {
const std::vector<double> k_floatingDamping = {10.0, 10.0, 5.0, 5.0, 1.0, 1.0, 1.0};
std::atomic<bool> g_schedStop = {false};
}
void printDescription()
{
std::cout << "This tutorial runs real-time joint floating with gentle velocity damping, "
"gravity compensation, and soft protection against position limits. This example "
"is ideal for verifying the system's whole-loop real-timeliness, accuracy of the "
"robot dynamics model, and joint torque control performance. If everything works "
"well, all joints should float smoothly."
<< std::endl
<< std::endl;
}
void printHelp()
{
std::cout << "Required arguments: [robot IP] [local IP]" << std::endl;
std::cout << " robot IP: address of the robot server" << std::endl;
std::cout << " local IP: address of this PC" << std::endl;
std::cout << "Optional arguments: None" << std::endl;
std::cout << std::endl;
}
{
try {
"periodicTask: Fault occurred on robot server, exiting ...");
}
size_t robotDOF = robotStates.
tau.size();
std::vector<double> targetTorque(robotDOF, 0.0);
for (size_t i = 0; i < robotDOF; ++i) {
targetTorque[i] += -k_floatingDamping[i] * robotStates.
dtheta[i];
}
g_schedStop = true;
}
}
int main(int argc, char* argv[])
{
if (argc < 3 ||
flexiv::utility::programArgsExistAny(argc, argv, {
"-h",
"--help"})) {
printHelp();
return 1;
}
std::string robotIP = argv[1];
std::string localIP = argv[2];
log.
info(
"Tutorial description:");
printDescription();
try {
log.
warn(
"Fault occurred on robot server, trying to clear ...");
std::this_thread::sleep_for(std::chrono::seconds(2));
log.
error(
"Fault cannot be cleared, exiting ...");
return 1;
}
log.
info(
"Fault on robot server is cleared");
}
log.
info(
"Enabling robot ...");
std::this_thread::sleep_for(std::chrono::seconds(1));
}
log.
info(
"Robot is now operational");
log.
info(
"Moving to home pose");
robot.
setMode(
flexiv::Mode::NRT_PRIMITIVE_EXECUTION);
std::this_thread::sleep_for(std::chrono::seconds(1));
}
robot.
setMode(
flexiv::Mode::RT_JOINT_TORQUE);
std::bind(periodicTask, std::ref(robot), std::ref(log), std::ref(robotStates)),
while (!g_schedStop) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
std::this_thread::sleep_for(std::chrono::seconds(2));
return 1;
}
return 0;
}
Base class for all custom runtime exception classes.
Helper functions to print messages with timestamp and coloring. Logging raw data to csv file coming s...
void warn(const std::string &message) const
[Non-blocking] Print warning message with timestamp and coloring.
void info(const std::string &message) const
[Non-blocking] Print info message with timestamp and coloring.
void error(const std::string &message) const
[Non-blocking] Print error message with timestamp and coloring.
Main interface with the robot, containing several function categories and background services.
void clearFault(void)
[Blocking] Clear minor fault of the robot.
void executePrimitive(const std::string &ptCmd)
[Blocking] Execute a primitive by specifying its name and parameters, which can be found in the Flexi...
void getRobotStates(RobotStates &output)
[Non-blocking] Get the latest robot states.
bool isFault(void) const
[Non-blocking] Check if the robot is in fault state.
void setMode(Mode mode)
[Blocking] Set a new control mode to the robot and wait until the mode transition is finished.
void streamJointTorque(const std::vector< double > &torques, bool enableGravityComp=true, bool enableSoftLimits=true)
[Non-blocking] Continuously stream joint torque command to the robot.
bool isBusy(void) const
[Non-blocking] Check if the robot is currently executing a task. This includes any user commanded ope...
void enable(void)
[Blocking] Enable the robot, if E-stop is released and there's no fault, the robot will release brake...
bool isOperational(bool verbose=true) const
[Non-blocking] Check if the robot is normally operational, which requires the following conditions to...
Real-time scheduler that can simultaneously run multiple periodic tasks. Parameters for each task are...
void stop()
[Blocking] Stop all added tasks. The periodic execution will stop and all task threads will be closed...
void addTask(std::function< void(void)> &&callback, const std::string &taskName, int interval, int priority, int cpuAffinity=-1)
[Non-blocking] Add a new periodic task to the scheduler's task pool. Each task in the pool is assigne...
void start()
[Blocking] Start all added tasks. A dedicated thread will be created for each added task and the peri...
int maxPriority() const
[Non-blocking] Get maximum available priority for user tasks.
Thrown if the robot server is not operational or has fault.
Data struct containing the joint- and Cartesian-space robot states.
std::vector< double > dtheta
std::vector< double > tau