support rizon 4s ft sensor

README.md

@@ -73,7 +73,7 @@ The program should print some info messages and "Connected = False" at the end.
 
 An example script that mocks an external simulator is provided and can be used to test the plugin with the following steps:
 
-1. Setup and run Flexiv Elements Studio simulation. See the relevant instructions at the end of this README.
+1. Setup and run Flexiv Elements Studio simulation. See [docs/elements_studio_setup.md](docs/elements_studio_setup.md).
 
 2. Start the mock program:
 
@@ -139,7 +139,7 @@ NOTE: ``-D`` followed by ``CMAKE_PREFIX_PATH`` tells the user project's CMake wh
 
 An example program that mocks an external simulator is provided and can be used to test the plugin with the following steps:
 
-1. Setup and run Flexiv Elements Studio simulation. See the relevant instructions at the end of this README.
+1. Setup and run Flexiv Elements Studio simulation. See [docs/elements_studio_setup.md](docs/elements_studio_setup.md).
 
 2. Start the mock program:
 
@@ -160,29 +160,3 @@ The API documentation can be generated using Doxygen. For example, on Linux:
 
 Open any html file under ``flexiv_sim_plugin/doc/html/`` with your browser to view the doc.
 
-
-## Flexiv Elements Studio Setup
-
-### Install Elements Studio on Ubuntu
-
-1. [Contact Flexiv](https://www.flexiv.com/contact) to obtain the installation package of Elements Studio.
-2. Extract the package to a non-root directory.
-3. Install Elements Studio:
-
-       bash setup_FlexivElements.sh
-
-4. Switch physics engine from the default built-in to external:
-
-       bash switch_physics_engine.sh
-
-   Select *External* when prompted.
-
-### Create a simulated robot in Elements Studio
-
-1. Start Flexiv Elements Studio from the application menu.
-2. In the Robot Connection window, select *Simulator*, and click *CREATE*.
-3. Choose "Create according to the selected robot type" and select one from the list, then click *CONFIRM*. A new simulated robot will be added to the simulator list.
-4. Toggle on the *Connect* button for the newly added one, then wait for loading.
-5. When loading is finished, you'll see a robot at its upright pose, with an "Exception" error at the bottom right corner. This is expected because the external simulator is not started yet. But if you see a normally operating robot, that again means you are running the wrong version of Elements Studio that only supports the built-in physics engine.
-6. At the bottom of the window, click on the small robot icon with a "SIM" tag on it, then a small window will pop up, note down the displayed robot serial number.
-7. Toggle the virtual motion bar slider button to the "auto" position. In resulting popup window, select "AUTO (REMOTE)"

docs/elements_studio_setup.md

@@ -0,0 +1,30 @@
+# Flexiv Elements Studio Setup
+
+Flexiv Elements Studio runs the simulated robot controller. 
+Set it up once before running any external-simulator workspace.
+
+## Install Elements Studio on Ubuntu
+
+1. [Contact Flexiv](https://www.flexiv.com/contact) to obtain the installation package of Elements Studio.
+2. Extract the package to a non-root directory.
+3. Install Elements Studio:
+
+       bash setup_FlexivElements.sh
+
+4. Switch physics engine from the default built-in to external:
+
+       bash switch_physics_engine.sh
+
+   Select *External* when prompted.
+
+## Create a simulated robot in Elements Studio
+
+1. Start Flexiv Elements Studio from the application menu.
+2. In the Robot Connection window, select *Simulator*, and click *CREATE*.
+3. Choose "Create according to the selected robot type" and select one from the list, then click *CONFIRM*. A new simulated robot will be added to the simulator list.
+4. Toggle on the *Connect* button for the newly added one, then wait for loading.
+5. When loading is finished, you'll see a robot at its upright pose, with an "Exception" error at the bottom right corner. This is expected because the external simulator is not started yet. But if you see a normally operating robot, that again means you are running the wrong version of Elements Studio that only supports the built-in physics engine.
+6. To enable RDK, Click Settings → Remote Mode → Select a Mode → Ethernet. In the resulting popup window, restart the simulated robot.
+7. Toggle the virtual motion bar slider button to the "auto" position. In the resulting popup window, select "AUTO (REMOTE)".
+8. At the bottom of the window, click on the small robot icon with a "SIM" tag on it, then a small window will pop up, note down the displayed robot serial number.
+

include/flexiv/sim_plugin/data.hpp

@@ -21,11 +21,14 @@ constexpr size_t kIOPorts = 16;
 struct SimRobotStates
 {
     /** @brief Customized constructor */
-    SimRobotStates(
-        uint64_t _servo_cycle, const std::vector<float>& _q, const std::vector<float>& _dq)
+    SimRobotStates(uint64_t _servo_cycle, const std::vector<float>& _q,
+        const std::vector<float>& _dq, const std::vector<float>& _wrist_force = {},
+        const std::vector<float>& _wrist_torque = {})
     : servo_cycle(_servo_cycle)
     , q(_q)
     , dq(_dq)
+    , wrist_force(_wrist_force)
+    , wrist_torque(_wrist_torque)
     {
     }
 
@@ -44,6 +47,14 @@ struct SimRobotStates
      * \f$. Unit: \f$ [rad/s] or [m/s] \f$.
      * @note This contains values for both the external axes (if any) and the robot manipulator. */
     std::vector<float> dq = {};
+
+    /** Current wrist force sensor reading of the simulated robot: \f$ [f_x, f_y, f_z] \f$. Unit:
+     * \f$ [N] \f$. */
+    std::vector<float> wrist_force = {};
+
+    /** Current wrist torque sensor reading of the simulated robot: \f$ [m_x, m_y, m_z] \f$. Unit:
+     * \f$ [Nm] \f$. */
+    std::vector<float> wrist_torque = {};
 };
 
 /** Commands data for a simulated robot in the external simulator */
@@ -72,4 +83,4 @@ struct SimRobotCommands
 } /* namespace sim_plugin */
 } /* namespace flexiv */
 
-#endif /* FLEXIV_SIM_PLUGIN_DATA_HPP_ */
+#endif /* FLEXIV_SIM_PLUGIN_DATA_HPP_ */