6 #ifndef FLEXIV_RDK_ROBOT_HPP_
7 #define FLEXIV_RDK_ROBOT_HPP_
39 Robot(
const std::string& robot_sn);
132 const std::vector<std::string>
mu_log()
const;
241 void ExecutePlan(
const std::string& name,
bool continue_exec =
false);
366 bool enable_soft_limits =
true);
387 const std::vector<double>& velocities,
const std::vector<double>& accelerations);
415 const std::vector<double>& velocities,
const std::vector<double>& accelerations,
416 const std::vector<double>& max_vel,
const std::vector<double>& max_acc);
437 const std::vector<double>& Z_q = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7});
485 const std::array<double, kCartDoF>& wrench = {},
486 const std::array<double, kCartDoF>& acceleration = {});
526 const std::array<double, kCartDoF>& wrench = {},
double max_linear_vel = 0.5,
527 double max_angular_vel = 1.0,
double max_linear_acc = 2.0,
double max_angular_acc = 5.0);
551 const std::array<double, kCartDoF>& Z_x = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7});
640 const std::array<double, kCartDoF / 2>& max_linear_vel = {1.0, 1.0, 1.0});
707 const std::vector<unsigned int>& port_idx,
const std::vector<bool>& values);
718 std::unique_ptr<Impl> pimpl_;
Interface with the robot device(s).
Interface for file transfer with the robot. The robot must be put into IDLE mode when transferring fi...
Interface with the robot gripper.
Interface to access certain robot kinematics and dynamics data.
Main interface with the robot, containing several function categories and background services.
void StreamCartesianMotionForce(const std::array< double, kPoseSize > &pose, const std::array< double, kCartDoF > &wrench={}, const std::array< double, kCartDoF > &acceleration={})
[Non-blocking] Continuously stream Cartesian motion and/or force command for the robot to track using...
void SetMaxContactWrench(const std::array< double, kCartDoF > &max_wrench)
[Non-blocking] Set maximum contact wrench for the motion control part of the Cartesian motion-force c...
const RobotStates states() const
[Non-blocking] Access the current robot states.
const std::vector< std::string > primitive_states() const
[Blocking] Get feedback states of the currently executing primitive.
const std::vector< std::string > plan_list() const
[Blocking] Get a list of all available plans.
void WriteDigitalOutput(const std::vector< unsigned int > &port_idx, const std::vector< bool > &values)
[Blocking] Write to single or multiple digital output port(s) on the control box.
void SetJointImpedance(const std::vector< double > &K_q, const std::vector< double > &Z_q={0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7})
[Non-blocking] Set impedance properties of the robot's joint motion controller used in the joint impe...
bool recovery() const
[Non-blocking] Whether the robot system is in recovery state.
void Brake(bool engage)
[Blocking] Force robot brakes to engage or release during normal operation. Restrictions apply,...
void StepBreakpoint()
[Blocking] If breakpoint mode is enabled, step to the next breakpoint. The plan execution will contin...
bool stopped() const
[Non-blocking] Whether the robot has come to a complete stop.
const RobotInfo info() const
[Non-blocking] Access general information of the robot.
Mode mode() const
[Non-blocking] Access current control mode of the connected robot.
bool operational(bool verbose=true) const
[Non-blocking] Whether the robot is normally operational, which requires the following conditions to ...
void ExecutePrimitive(const std::string &pt_cmd)
[Blocking] Execute a primitive by specifying its name and parameters, which can be found in the Flexi...
void StreamJointTorque(const std::vector< double > &torques, bool enable_gravity_comp=true, bool enable_soft_limits=true)
[Non-blocking] Continuously stream joint torque command to the robot.
void SetVelocityScale(unsigned int velocity_scale)
[Blocking] Set overall velocity scale for robot motions during plan and primitive execution.
void SetGlobalVariables(const std::string &global_vars)
[Blocking] Set global variables for the robot by specifying name and value.
void SendJointPosition(const std::vector< double > &positions, const std::vector< double > &velocities, const std::vector< double > &accelerations, const std::vector< double > &max_vel, const std::vector< double > &max_acc)
[Non-blocking] Discretely send joint position, velocity, and acceleration command to the robot....
void Stop()
[Blocking] Stop the robot and transit robot mode to IDLE.
void PausePlan(bool pause)
[Blocking] Pause or resume the execution of the current plan.
void ResetMaxContactWrench()
[Non-blocking] Reset max contact wrench regulation to nominal state, i.e. disabled.
const std::vector< std::string > mu_log() const
[Non-blocking] Access the multilingual log messages of the connected robot.
void SwitchMode(Mode mode)
[Blocking] Switch to a new control mode and wait until mode transition is finished.
void ResetJointImpedance()
[Non-blocking] Reset impedance properties of the robot's joint motion controller to nominal values.
void SetCartesianImpedance(const std::array< double, kCartDoF > &K_x, const std::array< double, kCartDoF > &Z_x={0.7, 0.7, 0.7, 0.7, 0.7, 0.7})
[Non-blocking] Set impedance properties of the robot's Cartesian motion controller used in the Cartes...
Robot(const std::string &robot_sn)
[Blocking] Create an instance as the main robot control interface. RDK services will initialize and c...
const std::vector< std::string > global_variables() const
[Blocking] Get available global variables from the robot.
bool connected() const
[Non-blocking] Whether the connection with the robot is established.
bool enabling_button_pressed() const
[Non-blocking] Whether the enabling button is pressed.
void ExecutePlan(unsigned int index, bool continue_exec=false)
[Blocking] Execute a plan by specifying its index.
const std::array< bool, kIOPorts > ReadDigitalInput()
[Non-blocking] Read all digital input ports on the control box.
void SetBreakpointMode(bool is_enabled)
[Blocking] Enable or disable the breakpoint mode during plan execution. When enabled,...
void SetForceControlAxis(const std::array< bool, kCartDoF > &enabled_axis, const std::array< double, kCartDoF/2 > &max_linear_vel={1.0, 1.0, 1.0})
[Blocking] Set force-controlled Cartesian axis(s) for the Cartesian motion-force control modes....
void ExecutePlan(const std::string &name, bool continue_exec=false)
[Blocking] Execute a plan by specifying its name.
void SetForceControlFrame(const std::string &reference_frame)
[Blocking] Set force control reference frame for the Cartesian motion-force control modes....
void SendCartesianMotionForce(const std::array< double, kPoseSize > &pose, const std::array< double, kCartDoF > &wrench={}, double max_linear_vel=0.5, double max_angular_vel=1.0, double max_linear_acc=2.0, double max_angular_acc=5.0)
[Non-blocking] Discretely send Cartesian motion and/or force command for the robot to track using its...
const PlanInfo plan_info() const
[Blocking] Get detailed information about the currently executing plan. Contains information like pla...
void ResetNullSpacePosture()
[Non-blocking] Reset preferred joint positions to the ones automatically recorded when entering the a...
void StreamJointPosition(const std::vector< double > &positions, const std::vector< double > &velocities, const std::vector< double > &accelerations)
[Non-blocking] Continuously stream joint position, velocity, and acceleration command to the robot....
void Enable()
[Blocking] Enable the robot, if E-stop is released and there's no fault, the robot will release brake...
bool fault() const
[Non-blocking] Whether the robot is in fault state.
void SetPassiveForceControl(bool is_enabled)
[Blocking] Enable or disable passive force control for the Cartesian motion-force control modes....
bool ClearFault(unsigned int timeout_sec=30)
[Blocking] Try to clear minor or critical fault of the robot without a power cycle.
bool estop_released() const
[Non-blocking] Whether the emergency stop is released.
bool busy() const
[Non-blocking] Whether the robot is currently executing a task. This includes any user commanded oper...
void SetNullSpacePosture(const std::vector< double > &preferred_positions)
[Non-blocking] Set preferred joint positions for the null-space posture control module used in the Ca...
void RunAutoRecovery()
[Blocking] Run automatic recovery to bring joints that are outside the allowed position range back in...
void ResetCartesianImpedance()
[Non-blocking] Reset impedance properties of the robot's Cartesian motion controller to nominal value...
Header file containing various data structs.
Mode
Robot control modes. The robot needs to be switched into the correct control mode before the correspo...
Data structure containing information of the on-going primitive/plan.
General information about the connected robot.
Data structure containing the joint- and Cartesian-space robot states.