panda_py.libfranka module¶
- class panda_py.libfranka.CartesianPose(*args, **kwargs)¶
Bases:
pybind11_object
Overloaded function.
__init__(self: panda_py.libfranka.CartesianPose, cartesian_pose: Annotated[list[float], FixedSize(16)]) -> None
__init__(self: panda_py.libfranka.CartesianPose, cartesian_pose: Annotated[list[float], FixedSize(16)], elbow: Annotated[list[float], FixedSize(2)]) -> None
- property O_T_EE¶
- property elbow¶
- property motion_finished¶
- class panda_py.libfranka.CartesianVelocities(*args, **kwargs)¶
Bases:
pybind11_object
Overloaded function.
__init__(self: panda_py.libfranka.CartesianVelocities, cartesian_velocities: Annotated[list[float], FixedSize(6)]) -> None
__init__(self: panda_py.libfranka.CartesianVelocities, cartesian_velocities: Annotated[list[float], FixedSize(6)], elbow: Annotated[list[float], FixedSize(2)]) -> None
- property O_dP_EE¶
- property elbow¶
- property motion_finished¶
- class panda_py.libfranka.ControllerMode(self: panda_py.libfranka.ControllerMode, value: int)¶
Bases:
pybind11_object
Members:
kCartesianImpedance
kJointImpedance
- kCartesianImpedance = <ControllerMode.kCartesianImpedance: 1>¶
- kJointImpedance = <ControllerMode.kJointImpedance: 0>¶
- property name¶
- property value¶
- class panda_py.libfranka.Duration(*args, **kwargs)¶
Bases:
pybind11_object
Overloaded function.
__init__(self: panda_py.libfranka.Duration) -> None
__init__(self: panda_py.libfranka.Duration, milliseconds: int) -> None
__init__(self: panda_py.libfranka.Duration, duration: datetime.timedelta) -> None
- to_msec(self: panda_py.libfranka.Duration) int ¶
- to_sec(self: panda_py.libfranka.Duration) float ¶
- class panda_py.libfranka.Errors(self: panda_py.libfranka.Errors)¶
Bases:
pybind11_object
- property cartesian_motion_generator_acceleration_discontinuity¶
- property cartesian_motion_generator_elbow_limit_violation¶
- property cartesian_motion_generator_elbow_sign_inconsistent¶
- property cartesian_motion_generator_joint_acceleration_discontinuity¶
- property cartesian_motion_generator_joint_position_limits_violation¶
- property cartesian_motion_generator_joint_velocity_discontinuity¶
- property cartesian_motion_generator_joint_velocity_limits_violation¶
- property cartesian_motion_generator_start_elbow_invalid¶
- property cartesian_motion_generator_velocity_discontinuity¶
- property cartesian_motion_generator_velocity_limits_violation¶
- property cartesian_position_limits_violation¶
- property cartesian_position_motion_generator_invalid_frame¶
- property cartesian_position_motion_generator_start_pose_invalid¶
- property cartesian_reflex¶
- property cartesian_velocity_profile_safety_violation¶
- property cartesian_velocity_violation¶
- property communication_constraints_violation¶
- property controller_torque_discontinuity¶
- property force_control_safety_violation¶
- property force_controller_desired_force_tolerance_violation¶
- property instability_detected¶
- property joint_motion_generator_acceleration_discontinuity¶
- property joint_motion_generator_position_limits_violation¶
- property joint_motion_generator_velocity_discontinuity¶
- property joint_motion_generator_velocity_limits_violation¶
- property joint_move_in_wrong_direction¶
- property joint_p2p_insufficient_torque_for_planning¶
- property joint_position_limits_violation¶
- property joint_position_motion_generator_start_pose_invalid¶
- property joint_reflex¶
- property joint_velocity_violation¶
- property max_goal_pose_deviation_violation¶
- property max_path_pose_deviation_violation¶
- property power_limit_violation¶
- property self_collision_avoidance_violation¶
- property start_elbow_sign_inconsistent¶
- property tau_j_range_violation¶
- class panda_py.libfranka.Frame(self: panda_py.libfranka.Frame, value: int)¶
Bases:
pybind11_object
Members:
kJoint1
kJoint2
kJoint3
kJoint4
kJoint5
kJoint6
kJoint7
kFlange
kEndEffector
kStiffness
- kEndEffector = <Frame.kEndEffector: 8>¶
- kFlange = <Frame.kFlange: 7>¶
- kJoint1 = <Frame.kJoint1: 0>¶
- kJoint2 = <Frame.kJoint2: 1>¶
- kJoint3 = <Frame.kJoint3: 2>¶
- kJoint4 = <Frame.kJoint4: 3>¶
- kJoint5 = <Frame.kJoint5: 4>¶
- kJoint6 = <Frame.kJoint6: 5>¶
- kJoint7 = <Frame.kJoint7: 6>¶
- kStiffness = <Frame.kStiffness: 9>¶
- property name¶
- property value¶
- class panda_py.libfranka.Gripper(self: panda_py.libfranka.Gripper, franka_address: str)¶
Bases:
pybind11_object
- grasp(self: panda_py.libfranka.Gripper, width: float, speed: float, force: float, epsilon_inner: float = 0.005, epsilon_outer: float = 0.005) bool ¶
- homing(self: panda_py.libfranka.Gripper) bool ¶
- move(self: panda_py.libfranka.Gripper, width: float, speed: float) bool ¶
- read_once(self: panda_py.libfranka.Gripper) panda_py.libfranka.GripperState ¶
- server_version(self: panda_py.libfranka.Gripper) int ¶
- stop(self: panda_py.libfranka.Gripper) bool ¶
- class panda_py.libfranka.GripperState¶
Bases:
pybind11_object
- property is_grasped¶
- property max_width¶
- property temperature¶
- property time¶
- property width¶
- class panda_py.libfranka.JointPositions(self: panda_py.libfranka.JointPositions, joint_positions: Annotated[list[float], FixedSize(7)])¶
Bases:
pybind11_object
- property motion_finished¶
- property q¶
- class panda_py.libfranka.JointVelocities(self: panda_py.libfranka.JointVelocities, joint_velocities: Annotated[list[float], FixedSize(7)])¶
Bases:
pybind11_object
- property dq¶
- property motion_finished¶
- class panda_py.libfranka.Model¶
Bases:
pybind11_object
- body_jacobian(*args, **kwargs)¶
Overloaded function.
body_jacobian(self: panda_py.libfranka.Model, frame: panda_py.libfranka.Frame, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(42)]
body_jacobian(self: panda_py.libfranka.Model, frame: panda_py.libfranka.Frame, q: Annotated[list[float], FixedSize(7)], F_T_EE: Annotated[list[float], FixedSize(16)], EE_T_K: Annotated[list[float], FixedSize(16)]) -> Annotated[list[float], FixedSize(42)]
- coriolis(*args, **kwargs)¶
Overloaded function.
coriolis(self: panda_py.libfranka.Model, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(7)]
coriolis(self: panda_py.libfranka.Model, q: Annotated[list[float], FixedSize(7)], dq: Annotated[list[float], FixedSize(7)], I_total: Annotated[list[float], FixedSize(9)], m_total: float, F_x_Ctotal: Annotated[list[float], FixedSize(3)]) -> Annotated[list[float], FixedSize(7)]
- gravity(*args, **kwargs)¶
Overloaded function.
gravity(self: panda_py.libfranka.Model, q: Annotated[list[float], FixedSize(7)], m_total: float, F_x_Ctotal: Annotated[list[float], FixedSize(3)], gravity_earth: Annotated[list[float], FixedSize(3)] = [0.0, 0.0, -9.81]) -> Annotated[list[float], FixedSize(7)]
gravity(self: panda_py.libfranka.Model, robot_state: panda_py.libfranka.RobotState, gravity_earth: Annotated[list[float], FixedSize(3)] = [0.0, 0.0, -9.81]) -> Annotated[list[float], FixedSize(7)]
- mass(*args, **kwargs)¶
Overloaded function.
mass(self: panda_py.libfranka.Model, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(49)]
mass(self: panda_py.libfranka.Model, q: Annotated[list[float], FixedSize(7)], I_total: Annotated[list[float], FixedSize(9)], m_total: float, F_x_Ctotal: Annotated[list[float], FixedSize(3)]) -> Annotated[list[float], FixedSize(49)]
- pose(*args, **kwargs)¶
Overloaded function.
pose(self: panda_py.libfranka.Model, frame: panda_py.libfranka.Frame, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(16)]
pose(self: panda_py.libfranka.Model, frame: panda_py.libfranka.Frame, q: Annotated[list[float], FixedSize(7)], F_T_EE: Annotated[list[float], FixedSize(16)], EE_T_K: Annotated[list[float], FixedSize(16)]) -> Annotated[list[float], FixedSize(16)]
- zero_jacobian(*args, **kwargs)¶
Overloaded function.
zero_jacobian(self: panda_py.libfranka.Model, frame: panda_py.libfranka.Frame, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(42)]
zero_jacobian(self: panda_py.libfranka.Model, frame: panda_py.libfranka.Frame, q: Annotated[list[float], FixedSize(7)], F_T_EE: Annotated[list[float], FixedSize(16)], EE_T_K: Annotated[list[float], FixedSize(16)]) -> Annotated[list[float], FixedSize(42)]
- class panda_py.libfranka.RealtimeConfig(self: panda_py.libfranka.RealtimeConfig, value: int)¶
Bases:
pybind11_object
Members:
kEnforce
kIgnore
- kEnforce = <RealtimeConfig.kEnforce: 0>¶
- kIgnore = <RealtimeConfig.kIgnore: 1>¶
- property name¶
- property value¶
- class panda_py.libfranka.Robot(self: panda_py.libfranka.Robot, franka_address: str, realtime_config: panda_py.libfranka.RealtimeConfig = <RealtimeConfig.kIgnore: 1>, log_size: int = 50)¶
Bases:
pybind11_object
- automatic_error_recovery(self: panda_py.libfranka.Robot) None ¶
- control(self: panda_py.libfranka.Robot, control_callback: Callable[[panda_py.libfranka.RobotState, panda_py.libfranka.Duration], panda_py.libfranka.Torques], limit_rate: bool = True, cutoff_frequency: float = 100.0) None ¶
- load_model(self: panda_py.libfranka.Robot) panda_py.libfranka.Model ¶
- read(self: panda_py.libfranka.Robot, arg0: Callable[[panda_py.libfranka.RobotState], bool]) None ¶
- read_once(self: panda_py.libfranka.Robot) panda_py.libfranka.RobotState ¶
- server_version(self: panda_py.libfranka.Robot) int ¶
- set_cartesian_impedance(self: panda_py.libfranka.Robot, K_x: Annotated[list[float], FixedSize(6)]) None ¶
- set_collision_behavior(*args, **kwargs)¶
Overloaded function.
set_collision_behavior(self: panda_py.libfranka.Robot, lower_torque_thresholds_acceleration: Annotated[list[float], FixedSize(7)], upper_torque_thresholds_acceleration: Annotated[list[float], FixedSize(7)], lower_torque_thresholds_nominal: Annotated[list[float], FixedSize(7)], upper_torque_thresholds_nominal: Annotated[list[float], FixedSize(7)], lower_force_thresholds_acceleration: Annotated[list[float], FixedSize(6)], upper_force_thresholds_acceleration: Annotated[list[float], FixedSize(6)], lower_force_thresholds_nominal: Annotated[list[float], FixedSize(6)], upper_force_thresholds_nominal: Annotated[list[float], FixedSize(6)]) -> None
set_collision_behavior(self: panda_py.libfranka.Robot, lower_torque_thresholds: Annotated[list[float], FixedSize(7)], upper_torque_thresholds: Annotated[list[float], FixedSize(7)], lower_force_thresholds: Annotated[list[float], FixedSize(6)], upper_force_thresholds: Annotated[list[float], FixedSize(6)]) -> None
- set_ee(self: panda_py.libfranka.Robot, NE_T_EE: Annotated[list[float], FixedSize(16)]) None ¶
- set_guiding_mode(self: panda_py.libfranka.Robot, guiding_mode: Annotated[list[bool], FixedSize(6)], elbow: bool) None ¶
- set_joint_impedance(self: panda_py.libfranka.Robot, K_theta: Annotated[list[float], FixedSize(7)]) None ¶
- set_k(self: panda_py.libfranka.Robot, EE_T_K: Annotated[list[float], FixedSize(16)]) None ¶
- set_load(self: panda_py.libfranka.Robot, load_mass: float, F_x_Cload: Annotated[list[float], FixedSize(3)], load_inertia: Annotated[list[float], FixedSize(9)]) None ¶
- stop(self: panda_py.libfranka.Robot) None ¶
- class panda_py.libfranka.RobotMode(self: panda_py.libfranka.RobotMode, value: int)¶
Bases:
pybind11_object
Members:
kOther
kIdle
kMove
kGuiding
kReflex
kUserStopped
kAutomaticErrorRecovery
- kAutomaticErrorRecovery = <RobotMode.kAutomaticErrorRecovery: 6>¶
- kGuiding = <RobotMode.kGuiding: 3>¶
- kIdle = <RobotMode.kIdle: 1>¶
- kMove = <RobotMode.kMove: 2>¶
- kOther = <RobotMode.kOther: 0>¶
- kReflex = <RobotMode.kReflex: 4>¶
- kUserStopped = <RobotMode.kUserStopped: 5>¶
- property name¶
- property value¶
- class panda_py.libfranka.RobotState¶
Bases:
pybind11_object
- property EE_T_K¶
- property F_T_EE¶
- property F_x_Cee¶
- property F_x_Cload¶
- property F_x_Ctotal¶
- property I_ee¶
- property I_load¶
- property I_total¶
- property K_F_ext_hat_K¶
- property O_F_ext_hat_K¶
- property O_T_EE¶
- property O_T_EE_c¶
- property O_T_EE_d¶
- property O_dP_EE_c¶
- property O_dP_EE_d¶
- property O_ddP_EE_c¶
- property cartesian_collision¶
- property cartesian_contact¶
- property control_command_success_rate¶
- property current_errors¶
- property ddelbow_c¶
- property ddq_d¶
- property delbow_c¶
- property dq¶
- property dq_d¶
- property dtau_J¶
- property dtheta¶
- property elbow¶
- property elbow_c¶
- property elbow_d¶
- property joint_collision¶
- property joint_contact¶
- property last_motion_errors¶
- property m_ee¶
- property m_load¶
- property m_total¶
- property q¶
- property q_d¶
- property robot_mode¶
- property tau_J¶
- property tau_J_d¶
- property tau_ext_hat_filtered¶
- property theta¶
- property time¶
- class panda_py.libfranka.Torques(self: panda_py.libfranka.Torques, torques: Annotated[list[float], FixedSize(7)])¶
Bases:
pybind11_object
- property motion_finished¶
- property tau_J¶
- class panda_py.libfranka.VacuumGripper(self: panda_py.libfranka.VacuumGripper, franka_address: str)¶
Bases:
pybind11_object
- drop_off(self: panda_py.libfranka.VacuumGripper, timeout: datetime.timedelta) bool ¶
- read_once(self: panda_py.libfranka.VacuumGripper) panda_py.libfranka.VacuumGripperState ¶
- server_version(self: panda_py.libfranka.VacuumGripper) int ¶
- stop(self: panda_py.libfranka.VacuumGripper) bool ¶
- vacuum(self: panda_py.libfranka.VacuumGripper, vacuum: int, timeout: datetime.timedelta, profile: panda_py.libfranka.VacuumGripperProductionSetupProfile = <VacuumGripperProductionSetupProfile.kP0: 0>) bool ¶
- class panda_py.libfranka.VacuumGripperDeviceStatus(self: panda_py.libfranka.VacuumGripperDeviceStatus, value: int)¶
Bases:
pybind11_object
Members:
kGreen
kYellow
kOrange
kRed
- kGreen = <VacuumGripperDeviceStatus.kGreen: 0>¶
- kOrange = <VacuumGripperDeviceStatus.kOrange: 2>¶
- kRed = <VacuumGripperDeviceStatus.kRed: 3>¶
- kYellow = <VacuumGripperDeviceStatus.kYellow: 1>¶
- property name¶
- property value¶
- class panda_py.libfranka.VacuumGripperProductionSetupProfile(self: panda_py.libfranka.VacuumGripperProductionSetupProfile, value: int)¶
Bases:
pybind11_object
Members:
kP0
kP1
kP2
kP3
- kP0 = <VacuumGripperProductionSetupProfile.kP0: 0>¶
- kP1 = <VacuumGripperProductionSetupProfile.kP1: 1>¶
- kP2 = <VacuumGripperProductionSetupProfile.kP2: 2>¶
- kP3 = <VacuumGripperProductionSetupProfile.kP3: 3>¶
- property name¶
- property value¶
- class panda_py.libfranka.VacuumGripperState¶
Bases:
pybind11_object
- property actual_power¶
- property device_status¶
- property in_control_range¶
- property part_detached¶
- property part_present¶
- property time¶
- property vacuum¶
- panda_py.libfranka.has_realtime_kernel() bool ¶
- panda_py.libfranka.is_homogeneous_transformation(transform: Annotated[list[float], FixedSize(16)]) bool ¶
- panda_py.libfranka.is_valid_elbow(elbow: Annotated[list[float], FixedSize(2)]) bool ¶
- panda_py.libfranka.limit_rate(arg0: Annotated[list[float], FixedSize(7)], arg1: Annotated[list[float], FixedSize(7)], arg2: Annotated[list[float], FixedSize(7)]) Annotated[list[float], FixedSize(7)] ¶
- panda_py.libfranka.motion_finished(*args, **kwargs)¶
Overloaded function.
motion_finished(command: panda_py.libfranka.Torques) -> panda_py.libfranka.Torques
motion_finished(command: panda_py.libfranka.JointPositions) -> panda_py.libfranka.JointPositions
motion_finished(command: panda_py.libfranka.JointVelocities) -> panda_py.libfranka.JointVelocities
motion_finished(command: panda_py.libfranka.CartesianPose) -> panda_py.libfranka.CartesianPose
motion_finished(command: panda_py.libfranka.CartesianVelocities) -> panda_py.libfranka.CartesianVelocities
- panda_py.libfranka.set_current_thread_to_highest_scheduler_priority(error_message: str) bool ¶