concepts.hw_interface.franka.remote_client.FrankaRemoteClient

class FrankaRemoteClient

Bases: object

Methods

close_gripper()
get_ee_pose()
get_qpos()
grasp([width, force])
ikfast(pos, quat, last_qpos[, max_attempts, ...])
move_home()
move_pose(pos[, quat, timeout])
move_qpos(qpos[, timeout])
move_qpos_trajectory(qpos_list[, timeout])
open_gripper([width])
print_pose()
reset_errors()
run_calibration_fix()	Helpful function for fixing an object at the current position.
set_manual_control()
visualize_camera_rgb()

__init__(server, name='franka-client', port_pair=None, automatic_reset_errors=True)

Parameters:

• server (str)

• automatic_reset_errors (bool)

__new__(**kwargs)

close_gripper()

Return type:

None

get_ee_pose()

get_qpos()

grasp(width=0.05, force=40)

Parameters:

• width (float)

• force (float)

ikfast(pos, quat, last_qpos, max_attempts=1000, max_distance=float('inf'), error_on_fail=True)

Parameters:

• pos (ndarray)

• quat (ndarray)

• last_qpos (ndarray)

• max_attempts (int)

• max_distance (float)

• error_on_fail (bool)

Return type:

List[ndarray] | ndarray | None

move_home()

move_pose(pos, quat=None, timeout=10)

Parameters:

timeout (float)

move_qpos(qpos, timeout=10)

Parameters:

• qpos (ndarray)

• timeout (float)

Return type:

None

move_qpos_trajectory(qpos_list, timeout=10)

Parameters:

timeout (float)

Return type:

None

open_gripper(width=0.2)

Parameters:

width (float)

Return type:

None

print_pose()

reset_errors()

Return type:

None

run_calibration_fix()

Helpful function for fixing an object at the current position. The robot will grasp, open, and move home.

set_manual_control()

visualize_camera_rgb()