Regarding the inputs/outputs signals nomenclature datatypes and sizes the libfranka definitions
have been fully adopted. You can check the list of signals here –>
Robot State Attributes.
Column-major format for the signal has been adopted as well.
This is the main block of the franka simulink library and it is responsible for applying the desired parameters and
control signals to the robot.
Additionally a set of parameters for the robot can be applied through this block main pane based mostly
on the desired control mode that is selected from the drop-down list Control Mode.
If desirable, an initial robot configuration can be applied !!before!! the main execution of the control loop.
Namely the robot will move to the desirable configuration and only then the main execution of the Simulink model
will take place. You can define that in the Initial Configuration section of the block settings.
This Simulink block outputs the duration from the last execution step in seconds. Ideally this should be always
0.001 seconds but due to lost packages during communication errors 0.002 secs or 0.003 secs could be seen.
The step count of the Simulink model does not change during these communication mishaps!
It just continues incrementally although an execution step in reality has been lost!
Special design considerations should be therefore demanded especially in the case of
sensitive position motion generators.
Have a look at, e.g., the generate_cartesian_pose_motion.slx demo to see how the
main “clock” of the application has been designed.