Main interface with the robot, containing several function categories and background services. More...

#include <robot.hpp>

Public Member Functions
	Robot (const std::string &robot_sn)
	[Blocking] Create an instance as the main robot control interface. RDK services will initialize and connection with the robot will be established. More...

bool	connected () const
	[Non-blocking] Whether the connection with the robot is established. More...

const RobotInfo	info () const
	[Non-blocking] General information about the connected robot. More...

Mode	mode () const
	[Non-blocking] Current control mode of the robot. More...

const RobotStates	states () const
	[Non-blocking] Current states data of the robot. More...

bool	stopped () const
	[Non-blocking] Whether the robot has come to a complete stop. More...

bool	operational (bool verbose=true) const
	[Non-blocking] Whether the robot is ready to be operated, which requires the following conditions to be met: enabled, brakes fully released, in auto mode, no fault, and not in reduced state. More...

OperationalStatus	operational_status () const
	[Non-blocking] Current operational status of the robot. More...

bool	busy () const
	[Non-blocking] Whether the robot is currently executing a task. This includes any user commanded operations that requires the robot to execute. For example, plans, primitives, Cartesian and joint motions, etc. More...

bool	fault () const
	[Non-blocking] Whether the robot is in fault state. More...

bool	reduced () const
	[Non-blocking] Whether the robot is in reduced state. More...

bool	recovery () const
	[Non-blocking] Whether the robot is in recovery state. More...

bool	estop_released () const
	[Non-blocking] Whether the emergency stop is released. More...

bool	enabling_button_pressed () const
	[Non-blocking] Whether the enabling button is pressed. More...

const std::vector< std::string >	mu_log () const
	[Non-blocking] Get multilingual log messages of the connected robot. More...

void	Enable ()
	[Blocking] Enable the robot, if E-stop is released and there's no fault, the robot will release brakes, and becomes operational a few seconds later. More...

void	Brake (bool engage)
	[Blocking] Force robot brakes to engage or release during normal operation. Restrictions apply, see warning. More...

void	SwitchMode (Mode mode)
	[Blocking] Switch to a new control mode and wait until mode transition is finished. More...

void	Stop ()
	[Blocking] Stop the robot and transit robot mode to IDLE. More...

bool	ClearFault (unsigned int timeout_sec=30)
	[Blocking] Try to clear minor or critical fault of the robot without a power cycle. More...

void	RunAutoRecovery ()
	[Blocking] Run automatic recovery to bring joints that are outside the allowed position range back into allowed range. More...

void	SetGlobalVariables (const std::map< std::string, FlexivDataTypes > &global_vars)
	[Blocking] Set values to global variables that already exist in the robot. More...

void	SetGlobalVariables (const std::string &global_vars)

std::map< std::string, FlexivDataTypes >	global_variables () const
	[Blocking] Existing global variables and their current values. More...

const std::vector< std::string >	global_variables (bool dummy)
	Unused parameter [dummy] is needed for function overloading.

void	ExecutePlan (unsigned int index, bool continue_exec=false, bool block_until_started=true)
	[Blocking] Execute a plan by specifying its index. More...

void	ExecutePlan (const std::string &name, bool continue_exec=false, bool block_until_started=true)
	[Blocking] Execute a plan by specifying its name. More...

void	PausePlan (bool pause)
	[Blocking] Pause or resume the execution of the current plan. More...

const std::vector< std::string >	plan_list () const
	[Blocking] Get a list of all available plans. More...

const PlanInfo	plan_info () const
	[Blocking] Get detailed information about the currently executing plan. Contains information like plan name, primitive name, node name, node path, node path time period, etc. More...

void	SetBreakpointMode (bool is_enabled)
	[Blocking] Enable or disable the breakpoint mode during plan execution. When enabled, the currently executing plan will pause at the pre-defined breakpoints. Use StepBreakpoint() to continue the execution and pause at the next breakpoint. More...

void	StepBreakpoint ()
	[Blocking] If breakpoint mode is enabled, step to the next breakpoint. The plan execution will continue and pause at the next breakpoint. More...

void	SetVelocityScale (unsigned int velocity_scale)
	[Blocking] Set overall velocity scale for robot motions during plan and primitive execution. More...

void	ExecutePrimitive (const std::string &primitive_name, const std::map< std::string, FlexivDataTypes > &input_params, bool block_until_started=true)
	[Blocking] Execute a primitive by specifying its name and parameters, which can be found in the Flexiv Primitives documentation. More...

void	ExecutePrimitive (const std::string &pt_cmd, bool block_until_started=true)

std::map< std::string, FlexivDataTypes >	primitive_states () const
	[Blocking] State parameters of the executing primitive and their current values. More...

const std::vector< std::string >	primitive_states (bool dummy)
	Unused parameter [dummy] is needed for function overloading.

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. More...

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. The commands are tracked by either the joint impedance controller or the joint position controller, depending on the control mode. More...

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. The robot's internal motion generator will smoothen the discrete commands, which are tracked by either the joint impedance controller or the joint position controller, depending on the control mode. More...

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})
	[Blocking] Set impedance properties of the robot's joint motion controller used in the joint impedance control modes. More...

void	StreamCartesianMotionForce (const std::array< double, kPoseSize > &pose, const std::array< double, kCartDoF > &wrench={}, const std::array< double, kCartDoF > &velocity={}, const std::array< double, kCartDoF > &acceleration={})
	[Non-blocking] Continuously stream Cartesian motion and/or force command for the robot to track using its unified motion-force controller, which allows doing force control in zero or more Cartesian axes and motion control in the rest axes. More...

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 unified motion-force controller, which allows doing force control in zero or more Cartesian axes and motion control in the rest axes. The robot's internal motion generator will smoothen the discrete commands. More...

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})
	[Blocking] Set impedance properties of the robot's Cartesian motion controller used in the Cartesian motion-force control modes. More...

void	SetMaxContactWrench (const std::array< double, kCartDoF > &max_wrench)
	[Blocking] Set maximum contact wrench for the motion control part of the Cartesian motion-force control modes. The controller will regulate its output to maintain contact wrench (force and moment) with the environment under the set values. More...

void	SetNullSpacePosture (const std::vector< double > &ref_positions)
	[Blocking] Set reference joint positions for the null-space posture control module used in the Cartesian motion-force control modes. More...

void	SetNullSpaceObjectives (double linear_manipulability=0.0, double angular_manipulability=0.0, double ref_positions_tracking=0.5)
	[Blocking] Set weights of the three optimization objectives while computing the robot's null-space posture. Change the weights to optimize robot performance for different use cases. More...

void	SetForceControlAxis (const std::array< bool, kCartDoF > &enabled_axes, const std::array< double, kCartDoF/2 > &max_linear_vel={1.0, 1.0, 1.0})
	[Blocking] Set Cartesian axes to enable force control while in the Cartesian motion-force control modes. Axes not enabled for force control will be motion-controlled. More...

void	SetForceControlFrame (CoordType root_coord, const std::array< double, kPoseSize > &T_in_root={0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0})
	[Blocking] Set reference frame for force control while in the Cartesian motion-force control modes. The force control frame is defined by specifying its transformation with regard to the root coordinate. More...

void	SetPassiveForceControl (bool is_enabled)
	[Blocking] Enable or disable passive force control for the Cartesian motion-force control modes. When enabled, an open-loop force controller will be used to feed forward the target wrench, i.e. passive force control. When disabled, a closed-loop force controller will be used to track the target wrench, i.e. active force control. More...

void	SetDigitalOutputs (const std::vector< unsigned int > &port_idx, const std::vector< bool > &values)
	[Blocking] Set one or more digital output port(s) on the control box. More...

void	WriteDigitalOutput (const std::vector< unsigned int > &port_idx, const std::vector< bool > &values)

const std::array< bool, kIOPorts >	digital_inputs ()
	[Non-blocking] Current reading of all digital input ports on the control box. More...

const std::array< bool, kIOPorts >	ReadDigitalInput ()

Friends
class	Device

class	FileIO

class	Gripper

class	Model

class	Tool

class	WorkCoord

Detailed Description

Main interface with the robot, containing several function categories and background services.

Definition at line 24 of file robot.hpp.

Constructor & Destructor Documentation

◆ Robot()

flexiv::rdk::Robot::Robot ( const std::string & robot_sn )

[Blocking] Create an instance as the main robot control interface. RDK services will initialize and connection with the robot will be established.

Parameters

[in] robot_sn Serial number of the robot to connect. The accepted formats are: "Rizon 4s-123456" and "Rizon4s-123456".

Exceptions

std::invalid_argument	if the format of [robot_sn] is invalid.
std::runtime_error	if the initialization sequence failed.
std::logic_error	if the connected robot does not have a valid RDK license; or this RDK library version is incompatible with the connected robot; or model of the connected robot is not supported.

Warning: This constructor blocks until the initialization sequence is successfully finished and connection with the robot is established.

Member Function Documentation

◆ Brake()

void flexiv::rdk::Robot::Brake ( bool engage )

[Blocking] Force robot brakes to engage or release during normal operation. Restrictions apply, see warning.

Parameters

[in] engage True: engage brakes; false: release brakes.

Exceptions

std::logic_error	if the connected robot is not a medical one or the robot is moving.
std::runtime_error	if failed to engage/release the brakes.

Note: This function blocks until the brakes are successfully engaged/released.

Warning: This function is accessible only if a) the connected robot is a medical one AND b) the robot is not moving.

◆ busy()

bool flexiv::rdk::Robot::busy ( ) const

[Non-blocking] Whether the robot is currently executing a task. This includes any user commanded operations that requires the robot to execute. For example, plans, primitives, Cartesian and joint motions, etc.

Returns: True: busy; false: idle.

Warning: Some exceptions exist for primitives, see ExecutePrimitive() for more details.

◆ ClearFault()

bool flexiv::rdk::Robot::ClearFault ( unsigned int timeout_sec = 30 )

[Blocking] Try to clear minor or critical fault of the robot without a power cycle.

Parameters

[in] timeout_sec Maximum time in seconds to wait for the fault to be successfully cleared. Normally, a minor fault should take no more than 3 seconds to clear, and a critical fault should take no more than 30 seconds to clear.

Returns: True: successfully cleared fault; false: failed to clear fault.

Exceptions

std::runtime_error if failed to deliver the request to the connected robot.

Note: This function blocks until the fault is successfully cleared or [timeout_sec] has elapsed.

Warning: Clearing a critical fault through this function without a power cycle requires a dedicated device, which may not be installed in older robot models.

◆ connected()

bool flexiv::rdk::Robot::connected ( ) const

[Non-blocking] Whether the connection with the robot is established.

Returns: True: connected; false: disconnected.

◆ digital_inputs()

const std::array<bool, kIOPorts> flexiv::rdk::Robot::digital_inputs ( )

[Non-blocking] Current reading of all digital input ports on the control box.

Returns: A boolean array whose index corresponds to that of the digital input ports. True: port high; false: port low.

◆ Enable()

void flexiv::rdk::Robot::Enable ( )

[Blocking] Enable the robot, if E-stop is released and there's no fault, the robot will release brakes, and becomes operational a few seconds later.

Exceptions

std::logic_error	if the robot is not connected.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

◆ enabling_button_pressed()

bool flexiv::rdk::Robot::enabling_button_pressed ( ) const

[Non-blocking] Whether the enabling button is pressed.

Returns: True: pressed; false: released.

◆ estop_released()

bool flexiv::rdk::Robot::estop_released ( ) const

[Non-blocking] Whether the emergency stop is released.

Returns: True: released; false: pressed.

◆ ExecutePlan() [1/2]

void flexiv::rdk::Robot::ExecutePlan	(	const std::string &	name,
		bool	continue_exec = `false`,
		bool	block_until_started = `true`
	)

[Blocking] Execute a plan by specifying its name.

Parameters

[in]	name	Name of the plan to execute, can be obtained via plan_list().
[in]	continue_exec	Whether to continue executing the plan when the RDK program is closed or the connection is lost.
[in]	block_until_started	Whether to wait for the commanded plan to finish loading and start execution before the function returns. Depending on the amount of computation needed to get the plan ready, the loading process typically takes no more than 200 ms.

Exceptions

std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: NRT_PLAN_EXECUTION.; This function blocks until the request is successfully delivered if [block_until_started] is disabled, or until the plan has started execution if [block_until_started] is enabled.; busy() can be used to check if the plan has finished.

◆ ExecutePlan() [2/2]

void flexiv::rdk::Robot::ExecutePlan	(	unsigned int	index,
		bool	continue_exec = `false`,
		bool	block_until_started = `true`
	)

[Blocking] Execute a plan by specifying its index.

Parameters

[in]	index	Index of the plan to execute, can be obtained via plan_list().
[in]	continue_exec	Whether to continue executing the plan when the RDK program is closed or the connection is lost.
[in]	block_until_started	Whether to wait for the commanded plan to finish loading and start execution before the function returns. Depending on the amount of computation needed to get the plan ready, the loading process typically takes no more than 200 ms.

Exceptions

std::invalid_argument	if [index] is outside the valid range.
std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: NRT_PLAN_EXECUTION.; This function blocks until the request is successfully delivered if [block_until_started] is disabled, or until the plan has started execution if [block_until_started] is enabled.; busy() can be used to check if the plan has finished.

◆ ExecutePrimitive()

void flexiv::rdk::Robot::ExecutePrimitive	(	const std::string &	primitive_name,
		const std::map< std::string, FlexivDataTypes > &	input_params,
		bool	block_until_started = `true`
	)

[Blocking] Execute a primitive by specifying its name and parameters, which can be found in the Flexiv Primitives documentation.

Parameters

[in]	primitive_name	Primitive name. For example, "Home", "MoveL", "ZeroFTSensor", etc.
[in]	input_params	A map of {input_parameter_name, input_parameter_value(s)}. Use int 1 and 0 to represent booleans. For example, {{"target", rdk::Coord({0.65, -0.3, 0.2}, {180, 0, 180}, {"WORLD", "WORLD_ORIGIN"})}, {"vel", 0.6}, {"zoneRadius", "Z50"}}.
[in]	block_until_started	Whether to wait for the commanded primitive to finish loading and start execution before the function returns. Depending on the amount of computation needed to get the primitive ready, the loading process typically takes no more than 200 ms.

Exceptions

std::length_error	if [input_params] is too long to transmit in one request.
std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: NRT_PRIMITIVE_EXECUTION.; This function blocks until the request is successfully delivered if [block_until_started] is disabled, or until the primitive has started execution if [block_until_started] is enabled.

Warning: The primitive input parameters may not use SI units, please refer to the Flexiv Primitives documentation for exact unit definition.; Most primitives won't exit by themselves and require users to explicitly trigger transitions based on specific primitive states. In such case, busy() will stay true even if it seems everything is done for that primitive.

◆ fault()

bool flexiv::rdk::Robot::fault ( ) const

[Non-blocking] Whether the robot is in fault state.

Returns: True: robot has fault; false: robot normal.

◆ global_variables()

std::map<std::string, FlexivDataTypes> flexiv::rdk::Robot::global_variables ( ) const

[Blocking] Existing global variables and their current values.

Returns: A map of {global_var_name, global_var_value(s)}. Booleans are represented by int 1 and 0. For example, {{"camera_offset", {0.1, -0.2, 0.3}}, {"start_plan", 1}}.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

See also: SetGlobalVariables().

◆ info()

const RobotInfo flexiv::rdk::Robot::info ( ) const

[Non-blocking] General information about the connected robot.

Returns: RobotInfo value copy.

◆ mode()

Mode flexiv::rdk::Robot::mode ( ) const

[Non-blocking] Current control mode of the robot.

Returns: flexiv::rdk::Mode enum.

◆ mu_log()

const std::vector<std::string> flexiv::rdk::Robot::mu_log ( ) const

[Non-blocking] Get multilingual log messages of the connected robot.

Returns: Robot log messages stored since the last successful instantiation of this class. Each element in the string list corresponds to one message with timestamp and log level added. New message is pushed to the back of the vector.

Note: Possible log level tags are: [info], [warning], [error], and [critical].

Warning: Messages before the last successful instantiation of this class are not available.

◆ operational()

bool flexiv::rdk::Robot::operational ( bool verbose = true ) const

[Non-blocking] Whether the robot is ready to be operated, which requires the following conditions to be met: enabled, brakes fully released, in auto mode, no fault, and not in reduced state.

Parameters

[in] verbose Whether to print warning message indicating why the robot is not operational when this function returns false.

Returns: True: operational (operational_status() == READY); false: not operational.

Warning: The robot won't execute any user command until it's ready to be operated.

◆ operational_status()

OperationalStatus flexiv::rdk::Robot::operational_status ( ) const

[Non-blocking] Current operational status of the robot.

Returns: OperationalStatus enum.

◆ PausePlan()

void flexiv::rdk::Robot::PausePlan ( bool pause )

[Blocking] Pause or resume the execution of the current plan.

Parameters

[in] pause True: pause plan; false: resume plan.

Exceptions

std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: NRT_PLAN_EXECUTION.; This function blocks until the request is successfully delivered.

Warning: Internal plans (not created by user) cannot be resumed due to safety concerns.

◆ plan_info()

const PlanInfo flexiv::rdk::Robot::plan_info ( ) const

[Blocking] Get detailed information about the currently executing plan. Contains information like plan name, primitive name, node name, node path, node path time period, etc.

Returns: PlanInfo data struct.

Exceptions

std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to get a reply from the connected robot.

Note: Applicable control modes: NRT_PLAN_EXECUTION.; This function blocks until a reply is received.

◆ plan_list()

const std::vector<std::string> flexiv::rdk::Robot::plan_list ( ) const

[Blocking] Get a list of all available plans.

Returns: Available plans in the format of a string list.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ primitive_states()

std::map<std::string, FlexivDataTypes> flexiv::rdk::Robot::primitive_states ( ) const

[Blocking] State parameters of the executing primitive and their current values.

Returns: A map of {pt_state_name, pt_state_value(s)}. Booleans are represented by int 1 and 0. For example, {{"reachedTarget", 1}, {"timePeriod", 5.6}, {"forceOffset", {0.1, 0.2, -1.3}}}.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ recovery()

bool flexiv::rdk::Robot::recovery ( ) const

[Non-blocking] Whether the robot is in recovery state.

Returns: True: in recovery state; false: not in recovery state.

Note: Use RunAutoRecovery() to execute automatic recovery operation.

Recovery state: The robot will enter recovery state if it needs to recover from joint position limit violation (a critical system fault that requires a recovery operation, during which the joints that moved outside the allowed position range will need to move very slowly back into the allowed range). Please refer to the robot user manual for more details about system recovery state.

◆ reduced()

bool flexiv::rdk::Robot::reduced ( ) const

[Non-blocking] Whether the robot is in reduced state.

Returns: True: in reduced state; false: not in reduced state.

Reduced state: The robot will enter reduced state if a) the safety input for reduced state goes low or b) robot TCP passes through any safety plane. The safety limits are lowered in reduced state compared to normal state. Specific values for the safety limits can be configured in Flexiv Elements under Settings -> Safety Configuration. Please refer to the robot user manual for more details about system reduced state.

◆ RunAutoRecovery()

void flexiv::rdk::Robot::RunAutoRecovery ( )

[Blocking] Run automatic recovery to bring joints that are outside the allowed position range back into allowed range.

Exceptions

std::runtime_error if failed to enter automatic recovery mode.

Note: Refer to user manual for more details.; This function blocks until the automatic recovery process is finished.

See also: recovery().

◆ SendCartesianMotionForce()

void flexiv::rdk::Robot::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 unified motion-force controller, which allows doing force control in zero or more Cartesian axes and motion control in the rest axes. The robot's internal motion generator will smoothen the discrete commands.

Parameters

[in]	pose	Target TCP pose in world frame: \( {^{O}T_{TCP}}_{d} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]:[] \).
[in]	wrench	Target TCP wrench (force and moment) in the force control reference frame (configured by SetForceControlFrame()): \( ^{0}F_d \in \mathbb{R}^{6 \times 1} \). The robot will track the target wrench using an explicit force controller. Consists of \( \mathbb{R}^{3 \times 1} \) force and \( \mathbb{R}^{3 \times 1} \) moment: \( [f_x, f_y, f_z, m_x, m_y, m_z]^T \). Unit: \( [N]:[Nm] \).
[in]	max_linear_vel	Maximum Cartesian linear velocity when moving to the target pose. A safe value is provided as default. Unit: \( [m/s] \).
[in]	max_angular_vel	Maximum Cartesian angular velocity when moving to the target pose. A safe value is provided as default. Unit: \( [rad/s] \).
[in]	max_linear_acc	Maximum Cartesian linear acceleration when moving to the target pose. A safe value is provided as default. Unit: \( [m/s^2] \).
[in]	max_angular_acc	Maximum Cartesian angular acceleration when moving to the target pose. A safe value is provided as default. Unit: \( [rad/s^2] \).

Exceptions

std::invalid_argument	if any of the last 4 input parameters is negative.
std::logic_error	if robot is not in an applicable control mode.

Note: Applicable control modes: NRT_CARTESIAN_MOTION_FORCE.

Warning: Same as Flexiv Elements, the target wrench is expressed as wrench sensed at TCP instead of wrench exerted by TCP. E.g. commanding f_z = +5 N will make the end-effector move towards -Z direction, so that upon contact, the sensed force will be +5 N.

How to achieve pure motion control?: Use SetForceControlAxis() to disable force control for all Cartesian axes to achieve pure motion control. This function does pure motion control by default.

How to achieve pure force control?: Use SetForceControlAxis() to enable force control for all Cartesian axes to achieve pure force control, active or passive.

How to achieve unified motion-force control?: Use SetForceControlAxis() to enable force control for one or more Cartesian axes and leave the rest axes motion-controlled, then provide target pose for the motion-controlled axes and target wrench for the force-controlled axes.

See also: SetCartesianImpedance(), SetMaxContactWrench(), SetNullSpacePosture(), SetForceControlAxis(), SetForceControlFrame(), SetPassiveForceControl().

◆ SendJointPosition()

void flexiv::rdk::Robot::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. The robot's internal motion generator will smoothen the discrete commands, which are tracked by either the joint impedance controller or the joint position controller, depending on the control mode.

Parameters

[in]	positions	Target joint positions: \( q_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \).
[in]	velocities	Target joint velocities: \( \dot{q}_d \in \mathbb{R}^{n \times 1} \). Each joint will maintain this amount of velocity when it reaches the target position. Unit: \( [rad/s] \).
[in]	accelerations	Target joint accelerations: \( \ddot{q}_d \in \mathbb{R}^{n \times 1} \). Each joint will maintain this amount of acceleration when it reaches the target position. Unit: \( [rad/s^2] \).
[in]	max_vel	Maximum joint velocities for the planned trajectory: \( \dot{q}_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] \).
[in]	max_acc	Maximum joint accelerations for the planned trajectory: \( \ddot{q}_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s^2] \).

Exceptions

std::invalid_argument	if size of any input vector does not match robot DoF.
std::logic_error	if robot is not in an applicable control mode.

Note: Applicable control modes: NRT_JOINT_IMPEDANCE, NRT_JOINT_POSITION.

Warning: Calling this function a second time while the motion from the previous call is still ongoing will trigger an online re-planning of the joint trajectory, such that the previous command is aborted and the new command starts to execute.

See also: SetJointImpedance().

◆ SetBreakpointMode()

void flexiv::rdk::Robot::SetBreakpointMode ( bool is_enabled )

[Blocking] Enable or disable the breakpoint mode during plan execution. When enabled, the currently executing plan will pause at the pre-defined breakpoints. Use StepBreakpoint() to continue the execution and pause at the next breakpoint.

Parameters

[in] is_enabled True: enable; false: disable. By default, breakpoint mode is disabled.

Exceptions

std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: NRT_PLAN_EXECUTION.; This function blocks until the request is successfully delivered.

◆ SetCartesianImpedance()

void flexiv::rdk::Robot::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}`
	)

[Blocking] Set impedance properties of the robot's Cartesian motion controller used in the Cartesian motion-force control modes.

Parameters

[in]	K_x	Cartesian motion stiffness: \( K_x \in \mathbb{R}^{6 \times 1} \). Setting motion stiffness of a motion-controlled Cartesian axis to 0 will make this axis free-floating. Consists of \( \mathbb{R}^{3 \times 1} \) linear stiffness and \( \mathbb{R}^{3 \times 1} \) angular stiffness: \( [k_x, k_y, k_z, k_{Rx}, k_{Ry}, k_{Rz}]^T \). Valid range: [0, RobotInfo::K_x_nom]. Unit: \( [N/m]:[Nm/rad] \).
[in]	Z_x	Cartesian motion damping ratio: \( Z_x \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) linear damping ratio and \( \mathbb{R}^{3 \times 1} \) angular damping ratio: \( [\zeta_x, \zeta_y, \zeta_z, \zeta_{Rx}, \zeta_{Ry}, \zeta_{Rz}]^T \). Valid range: [0.3, 0.8]. The nominal (safe) value is provided as default.

Exceptions

std::invalid_argument	if [K_x] or [Z_x] contains any value outside the valid range.
std::logic_error	if robot is not in an applicable control mode.

Note: Applicable control modes: RT_CARTESIAN_MOTION_FORCE, NRT_CARTESIAN_MOTION_FORCE.; This function blocks until the request is successfully delivered.

Warning: Changing damping ratio [Z_x] to a non-nominal value may lead to performance and stability issues, please use with caution.

◆ SetDigitalOutputs()

void flexiv::rdk::Robot::SetDigitalOutputs	(	const std::vector< unsigned int > &	port_idx,
		const std::vector< bool > &	values
	)

[Blocking] Set one or more digital output port(s) on the control box.

Parameters

[in]	port_idx	Index of port(s) to set, can be a single port or multiple ports. E.g. {0, 5, 7, 15} or {1, 3, 10} or {8}. Valid range of the index number is [0–15].
[in]	values	Corresponding values to set to the specified ports. True: set port high, false: set port low. Vector size must match the size of port_idx.

Exceptions

std::invalid_argument	if [port_idx] contains any index number outside the valid range.
std::length_error	if the two input vectors have different sizes.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

◆ SetForceControlAxis()

void flexiv::rdk::Robot::SetForceControlAxis	(	const std::array< bool, kCartDoF > &	enabled_axes,
		const std::array< double, kCartDoF/2 > &	max_linear_vel = `{1.0, 1.0, 1.0}`
	)

[Blocking] Set Cartesian axes to enable force control while in the Cartesian motion-force control modes. Axes not enabled for force control will be motion-controlled.

Parameters

[in]	enabled_axes	Flags to enable/disable force control for certain Cartesian axes in the force control reference frame (configured by SetForceControlFrame()). The axis order is \( [X, Y, Z, Rx, Ry, Rz] \).
[in]	max_linear_vel	For linear Cartesian axes that are enabled for force control, limit the moving velocity to these values as a protection mechanism in case of contact loss. The axis order is \( [X, Y, Z] \). Valid range: [0.005, 2.0]. Unit: \( [m/s] \).

Exceptions

std::invalid_argument	if [max_linear_vel] contains any value outside the valid range.
std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: RT_CARTESIAN_MOTION_FORCE, NRT_CARTESIAN_MOTION_FORCE.; This function blocks until the request is successfully delivered.; If not set, force control is disabled for all Cartesian axes by default.

Warning: The maximum linear velocity protection for force control axes is only effective under active force control (i.e. passive force control disabled), see SetPassiveForceControl().

◆ SetForceControlFrame()

void flexiv::rdk::Robot::SetForceControlFrame	(	CoordType	root_coord,
		const std::array< double, kPoseSize > &	T_in_root = `{0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}`
	)

[Blocking] Set reference frame for force control while in the Cartesian motion-force control modes. The force control frame is defined by specifying its transformation with regard to the root coordinate.

Parameters

[in]	root_coord	Reference coordinate of [T_in_root].
[in]	T_in_root	Transformation from [root_coord] to the user-defined force control frame: \( ^{root}T_{force} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]:[] \). If root coordinate is a fixed one (e.g. WORLD), then the force control frame will also be fixed; if root coordinate is a moving one (e.g. TCP), then the force control frame will also be moving with the root coordinate. An identity transformation is provided as default.

Exceptions

std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: RT_CARTESIAN_MOTION_FORCE, NRT_CARTESIAN_MOTION_FORCE.; This function blocks until the request is successfully delivered.; If not set, the robot will use WORLD origin as the force control frame by default.

Force control frame: In Cartesian motion-force control modes, the reference frame of motion control is always the world frame, but the reference frame of force control can be an arbitrary one. While the world frame is the commonly used global coordinate, the current TCP frame is a dynamic local coordinate whose transformation with regard to the world frame changes as the robot TCP moves. When using world frame with no transformation as the force control frame, the force-controlled axes and motion-controlled axes are guaranteed to be orthogonal. Otherwise, the force-controlled axes and motion-controlled axes are NOT guaranteed to be orthogonal because different reference frames are used. In this case, it's recommended but not required to set the target pose such that the actual robot motion direction(s) are orthogonal to force direction(s). If they are not orthogonal, the motion control's vector component(s) in the force direction(s) will be eliminated.

◆ SetGlobalVariables()

void flexiv::rdk::Robot::SetGlobalVariables ( const std::map< std::string, FlexivDataTypes > & global_vars )

[Blocking] Set values to global variables that already exist in the robot.

Parameters

[in] global_vars A map of {global_var_name, global_var_value(s)}. Use int 1 and 0 to represent booleans. For example, {{"camera_offset", {0.1, -0.2, 0.3}}, {"start_plan", 1}}.

Exceptions

std::length_error	if [global_vars] is empty or too long to transmit in one request.
std::logic_error	if any of the specified global variables does not exist.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the global variables are successfully set.

Warning: The specified global variables need to be created first using Flexiv Elements.

See also: global_variables().

◆ SetJointImpedance()

void flexiv::rdk::Robot::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}`
	)

[Blocking] Set impedance properties of the robot's joint motion controller used in the joint impedance control modes.

Parameters

[in]	K_q	Joint motion stiffness: \( K_q \in \mathbb{R}^{n \times 1} \). Setting motion stiffness of a joint axis to 0 will make this axis free-floating. Valid range: [0, RobotInfo::K_q_nom]. Unit: \( [Nm/rad] \).
[in]	Z_q	Joint motion damping ratio: \( Z_q \in \mathbb{R}^{n \times 1} \). Valid range: [0.3, 0.8]. The nominal (safe) value is provided as default.

Exceptions

std::invalid_argument	if [K_q] or [Z_q] contains any value outside the valid range or size of any input vector does not match robot DoF.
std::logic_error	if robot is not in an applicable control mode.

Note: Applicable control modes: RT_JOINT_IMPEDANCE, NRT_JOINT_IMPEDANCE.; This function blocks until the request is successfully delivered.

Warning: Changing damping ratio [Z_q] to a non-nominal value may lead to performance and stability issues, please use with caution.

◆ SetMaxContactWrench()

void flexiv::rdk::Robot::SetMaxContactWrench ( const std::array< double, kCartDoF > & max_wrench )

[Blocking] Set maximum contact wrench for the motion control part of the Cartesian motion-force control modes. The controller will regulate its output to maintain contact wrench (force and moment) with the environment under the set values.

Parameters

[in] max_wrench Maximum contact wrench (force and moment): \( F_max \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) maximum force and \( \mathbb{R}^{3 \times 1} \) maximum moment: \( [f_x, f_y, f_z, m_x, m_y, m_z]^T \). Unit: \( [N]:[Nm] \).

Exceptions

std::invalid_argument	if [max_wrench] contains any negative value.
std::logic_error	if robot is not in an applicable control mode.

Note: The maximum contact wrench regulation only applies to the motion control part.; Applicable control modes: RT_CARTESIAN_MOTION_FORCE, NRT_CARTESIAN_MOTION_FORCE.; This function blocks until the request is successfully delivered.

Warning: The maximum contact wrench regulation cannot be enabled if any of the rotational Cartesian axes is enabled for moment control.

◆ SetNullSpaceObjectives()

void flexiv::rdk::Robot::SetNullSpaceObjectives	(	double	linear_manipulability = `0.0`,
		double	angular_manipulability = `0.0`,
		double	ref_positions_tracking = `0.5`
	)

[Blocking] Set weights of the three optimization objectives while computing the robot's null-space posture. Change the weights to optimize robot performance for different use cases.

Parameters

[in]	linear_manipulability	Increase this weight to improve the robot's capability to translate freely in Cartesian space, i.e. a broader range of potential translation movements. Valid range: [0.0, 1.0].
[in]	angular_manipulability	Increase this weight to improve the robot's capability to rotate freely in Cartesian space, i.e. a broader range of potential rotation movements. Valid range: [0.0, 1.0].
[in]	ref_positions_tracking	Increase this weight to make the robot track closer to the reference joint positions specified using SetNullSpacePosture(). Valid range: [0.1, 1.0].

Exceptions

std::invalid_argument	if any of the input parameters is outside its valid range.
std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: The default value is provided for each parameter.; Applicable control modes: RT_CARTESIAN_MOTION_FORCE, NRT_CARTESIAN_MOTION_FORCE.; This function blocks until the request is successfully delivered.

Warning: The optimization weights will be automatically reset to the provided default values upon re-entering the applicable control modes.

◆ SetNullSpacePosture()

void flexiv::rdk::Robot::SetNullSpacePosture ( const std::vector< double > & ref_positions )

[Blocking] Set reference joint positions for the null-space posture control module used in the Cartesian motion-force control modes.

Parameters

[in] ref_positions Reference joint positions for the null-space posture control: \( q_{ns} \in \mathbb{R}^{n \times 1} \). Valid range: [RobotInfo::q_min, RobotInfo::q_max]. Unit: \( [rad] \).

Exceptions

std::invalid_argument	if [ref_positions] contains any value outside the valid range or size of any input vector does not match robot DoF.
std::logic_error	if robot is not in an applicable control mode.

Note: Applicable control modes: RT_CARTESIAN_MOTION_FORCE, NRT_CARTESIAN_MOTION_FORCE.; This function blocks until the request is successfully delivered.

Warning: The reference joint positions will be automatically reset to the robot's current joint positions upon re-entering the applicable control modes.

Null-space posture control: Similar to human arm, a robotic arm with redundant joint-space degree(s) of freedom (DoF > 6) can change its overall posture without affecting the ongoing primary task. This is achieved through a technique called "null-space control". After the reference joint positions of a desired robot posture are set using this function, the robot's null-space control module will try to pull the arm as close to this posture as possible without affecting the primary Cartesian motion-force control task.

◆ SetPassiveForceControl()

void flexiv::rdk::Robot::SetPassiveForceControl ( bool is_enabled )

[Blocking] Enable or disable passive force control for the Cartesian motion-force control modes. When enabled, an open-loop force controller will be used to feed forward the target wrench, i.e. passive force control. When disabled, a closed-loop force controller will be used to track the target wrench, i.e. active force control.

Parameters

[in] is_enabled True: enable; false: disable. By default, passive force control is disabled and active force control is used.

Exceptions

std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: IDLE.; This function blocks until the request is successfully delivered.; If not set, the passive force control is disabled by default.

Difference between active and passive force control: Active force control uses a feedback loop to reduce the error between target wrench and measured wrench. This method results in better force tracking performance, but at the cost of additional Cartesian damping which could potentially decrease motion tracking performance. On the other hand, passive force control simply feeds forward the target wrench. This methods results in worse force tracking performance, but is more robust and does not introduce additional Cartesian damping. The choice of active or passive force control depends on the actual application.

◆ SetVelocityScale()

void flexiv::rdk::Robot::SetVelocityScale ( unsigned int velocity_scale )

[Blocking] Set overall velocity scale for robot motions during plan and primitive execution.

Parameters

[in] velocity_scale Percentage scale to adjust the overall velocity of robot motions. Valid range: [0, 100]. Setting to 100 means to move with 100% of specified motion velocity, and 0 means not moving at all.

Exceptions

std::invalid_argument	if [velocity_scale] is outside the valid range.
std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: NRT_PLAN_EXECUTION, NRT_PRIMITIVE_EXECUTION.; This function blocks until the request is successfully delivered.

◆ states()

const RobotStates flexiv::rdk::Robot::states ( ) const

[Non-blocking] Current states data of the robot.

Returns: RobotStates value copy.

Note: Real-time (RT).

◆ StepBreakpoint()

void flexiv::rdk::Robot::StepBreakpoint ( )

[Blocking] If breakpoint mode is enabled, step to the next breakpoint. The plan execution will continue and pause at the next breakpoint.

Exceptions

std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: NRT_PLAN_EXECUTION.; This function blocks until the request is successfully delivered.; Use PlanInfo::waiting_for_step to check if the plan is currently waiting for user signal to step the breakpoint.

◆ Stop()

void flexiv::rdk::Robot::Stop ( )

[Blocking] Stop the robot and transit robot mode to IDLE.

Exceptions

std::runtime_error if failed to stop the robot.

Note: This function blocks until the robot comes to a complete stop.

◆ stopped()

bool flexiv::rdk::Robot::stopped ( ) const

[Non-blocking] Whether the robot has come to a complete stop.

Returns: True: stopped; false: still moving.

◆ StreamCartesianMotionForce()

void flexiv::rdk::Robot::StreamCartesianMotionForce	(	const std::array< double, kPoseSize > &	pose,
		const std::array< double, kCartDoF > &	wrench = `{}`,
		const std::array< double, kCartDoF > &	velocity = `{}`,
		const std::array< double, kCartDoF > &	acceleration = `{}`
	)

[Non-blocking] Continuously stream Cartesian motion and/or force command for the robot to track using its unified motion-force controller, which allows doing force control in zero or more Cartesian axes and motion control in the rest axes.

Parameters

[in]	pose	Target TCP pose in world frame: \( {^{O}T_{TCP}}_{d} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]:[] \).
[in]	wrench	Target TCP wrench (force and moment) in the force control reference frame (configured by SetForceControlFrame()): \( ^{0}F_d \in \mathbb{R}^{6 \times 1} \). The robot will track the target wrench using an explicit force controller. Consists of \( \mathbb{R}^{3 \times 1} \) force and \( \mathbb{R}^{3 \times 1} \) moment: \( [f_x, f_y, f_z, m_x, m_y, m_z]^T \). Unit: \( [N]:[Nm] \).
[in]	velocity	Target TCP velocity (linear and angular) in world frame: \( ^{0}\dot{x}_d \in \mathbb{R}^{6 \times 1} \). Providing properly calculated target velocity can improve the robot's overall tracking performance at the cost of reduced robustness. Leaving this input 0 can maximize robustness at the cost of reduced tracking performance. Consists of \( \mathbb{R}^{3 \times 1} \) linear and \( \mathbb{R}^{3 \times 1} \) angular velocity. Unit: \( [m/s]:[rad/s] \).
[in]	acceleration	Target TCP acceleration (linear and angular) in world frame: \( ^{0}\ddot{x}_d \in \mathbb{R}^{6 \times 1} \). Feeding forward target acceleration can improve the robot's tracking performance for highly dynamic motions, but it's also okay to leave this input 0. Consists of \( \mathbb{R}^{3 \times 1} \) linear and \( \mathbb{R}^{3 \times 1} \) angular acceleration. Unit: \( [m/s^2]:[rad/s^2] \).

Exceptions

std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if number of timeliness failures has reached limit.

Note: Applicable control modes: RT_CARTESIAN_MOTION_FORCE.; Real-time (RT).

Warning: Always stream smooth and continuous motion commands to avoid sudden movements. The force commands don't need to be continuous.; Same as Flexiv Elements, the target wrench is expressed as wrench sensed at TCP instead of wrench exerted by TCP. E.g. commanding f_z = +5 N will make the end-effector move towards -Z direction, so that upon contact, the sensed force will be +5 N.

How to achieve pure motion control?: Use SetForceControlAxis() to disable force control for all Cartesian axes to achieve pure motion control. This function does pure motion control by default.

How to achieve pure force control?: Use SetForceControlAxis() to enable force control for all Cartesian axes to achieve pure force control, active or passive.

How to achieve unified motion-force control?: Use SetForceControlAxis() to enable force control for one or more Cartesian axes and leave the rest axes motion-controlled, then provide target pose for the motion-controlled axes and target wrench for the force-controlled axes.

See also: SetCartesianImpedance(), SetMaxContactWrench(), SetNullSpacePosture(), SetForceControlAxis(), SetForceControlFrame(), SetPassiveForceControl().

◆ StreamJointPosition()

void flexiv::rdk::Robot::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. The commands are tracked by either the joint impedance controller or the joint position controller, depending on the control mode.

Parameters

[in]	positions	Target joint positions: \( q_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \).
[in]	velocities	Target joint velocities: \( \dot{q}_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] \).
[in]	accelerations	Target joint accelerations: \( \ddot{q}_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s^2] \).

Exceptions

std::invalid_argument	if size of any input vector does not match robot DoF.
std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if number of timeliness failures has reached limit.

Note: Applicable control modes: RT_JOINT_IMPEDANCE, RT_JOINT_POSITION.; Real-time (RT).

Warning: Always stream smooth and continuous commands to avoid sudden movements.

See also: SetJointImpedance().

◆ StreamJointTorque()

void flexiv::rdk::Robot::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.

Parameters

[in]	torques	Target joint torques: \( {\tau_J}_d \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm] \).
[in]	enable_gravity_comp	Enable/disable robot gravity compensation.
[in]	enable_soft_limits	Enable/disable soft limits to keep the joints from moving outside allowed position range, which will trigger a safety fault that requires recovery operation.

Exceptions

std::invalid_argument	if size of any input vector does not match robot DoF.
std::logic_error	if robot is not in an applicable control mode.
std::runtime_error	if number of timeliness failures has reached limit.

Note: Applicable control modes: RT_JOINT_TORQUE.; Real-time (RT).

Warning: Always stream smooth and continuous commands to avoid sudden movements.

◆ SwitchMode()

void flexiv::rdk::Robot::SwitchMode ( Mode mode )

[Blocking] Switch to a new control mode and wait until mode transition is finished.

Parameters

[in] mode flexiv::rdk::Mode enum.

Exceptions

std::invalid_argument	if the requested mode is invalid or unlicensed.
std::logic_error	if robot is in an unknown control mode or is not operational.
std::runtime_error	if failed to transit the robot into the specified control mode after several attempts.

Note: This function blocks until the robot has successfully transited into the specified control mode.

Warning: If the robot is still moving when this function is called, it will automatically stop then make the mode transition.

The documentation for this class was generated from the following file:

include/flexiv/rdk/robot.hpp

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Robot()

Member Function Documentation

◆ Brake()

◆ busy()

◆ ClearFault()

◆ connected()

◆ digital_inputs()

◆ Enable()

◆ enabling_button_pressed()

◆ estop_released()

◆ ExecutePlan() [1/2]

◆ ExecutePlan() [2/2]

◆ ExecutePrimitive()

◆ fault()

◆ global_variables()

◆ info()

◆ mode()

◆ mu_log()

◆ operational()

◆ operational_status()

◆ PausePlan()

◆ plan_info()

◆ plan_list()

◆ primitive_states()

◆ recovery()

◆ reduced()

◆ RunAutoRecovery()

◆ SendCartesianMotionForce()

◆ SendJointPosition()

◆ SetBreakpointMode()

◆ SetCartesianImpedance()

◆ SetDigitalOutputs()

◆ SetForceControlAxis()

◆ SetForceControlFrame()

◆ SetGlobalVariables()

◆ SetJointImpedance()

◆ SetMaxContactWrench()

◆ SetNullSpaceObjectives()

◆ SetNullSpacePosture()

◆ SetPassiveForceControl()

◆ SetVelocityScale()

◆ states()

◆ StepBreakpoint()

◆ Stop()

◆ stopped()

◆ StreamCartesianMotionForce()

◆ StreamJointPosition()

◆ StreamJointTorque()

◆ SwitchMode()