panda_py.libfranka module

class panda_py.libfranka.CartesianPose(*args, **kwargs)

Bases: pybind11_object

Overloaded function.

1. __init__(self: panda_py.libfranka.CartesianPose, cartesian_pose: Annotated[list[float], FixedSize(16)]) -> None

2. __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.

1. __init__(self: panda_py.libfranka.CartesianVelocities, cartesian_velocities: Annotated[list[float], FixedSize(6)]) -> None

2. __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.

1. __init__(self: panda_py.libfranka.Duration) -> None

2. __init__(self: panda_py.libfranka.Duration, milliseconds: int) -> None

3. __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.

1. body_jacobian(self: panda_py.libfranka.Model, frame: panda_py.libfranka.Frame, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(42)]

2. 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.

1. coriolis(self: panda_py.libfranka.Model, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(7)]

2. 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.

1. 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)]

2. 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.

1. mass(self: panda_py.libfranka.Model, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(49)]

2. 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.

1. pose(self: panda_py.libfranka.Model, frame: panda_py.libfranka.Frame, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(16)]

2. 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.

1. zero_jacobian(self: panda_py.libfranka.Model, frame: panda_py.libfranka.Frame, robot_state: panda_py.libfranka.RobotState) -> Annotated[list[float], FixedSize(42)]

2. 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.

1. 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

2. 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.

1. motion_finished(command: panda_py.libfranka.Torques) -> panda_py.libfranka.Torques

2. motion_finished(command: panda_py.libfranka.JointPositions) -> panda_py.libfranka.JointPositions

3. motion_finished(command: panda_py.libfranka.JointVelocities) -> panda_py.libfranka.JointVelocities

4. motion_finished(command: panda_py.libfranka.CartesianPose) -> panda_py.libfranka.CartesianPose

5. 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