FR3 on Summit XLS Example¶

FR3 XLS simulation

The FR3 XLS example demonstrates the mobile manipulator controller interface. It optimizes whole-body motion and returns separate mobile-base and manipulator commands.

Run¶

cd examples/python
python3 dyros_robot_controller_example.py --robot_name fr3_xls

cd examples/C++/build
./dyros_robot_controller_example fr3_xls

Modes¶

Key	Mode	Description
`1`	Home	Move the manipulator to a predefined home configuration
`2`	QPIK	Compute whole-body mobile manipulator velocity commands
`3`	Gravity Compensation W QPID	Compute torque-level compensation through QPID

Output Commands¶

The controller splits optimized output into:

Mobile command vector
Manipulator command vector

This mirrors the C++ and Python APIs:

success, qdot_mobile_desired, qdot_mani_desired = robot_controller.QPIK_cubic(
    link_task_data,
    duration,
)

Files¶

File	Purpose
`examples/C++/src/fr3_xls_controller.cpp`	C++ controller implementation
`examples/C++/include/fr3_xls_controller.hpp`	C++ controller declaration
`examples/python/fr3_xls_controller.py`	Python controller implementation
`examples/robots/fr3_xls`	Combined mobile manipulator assets