concepts.hw_interface.franka.remote_client.FrankaRemoteClient#

class FrankaRemoteClient[source]#

Bases: object

Methods

close_gripper()

get_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()

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)[source]#
Parameters:
  • server (str) –

  • automatic_reset_errors (bool) –

__new__(**kwargs)#
close_gripper()[source]#
Return type:

None

get_pose()[source]#
get_qpos()[source]#
grasp(width=0.05, force=40)[source]#
Parameters:
ikfast(pos, quat, last_qpos, max_attempts=1000, max_distance=float('inf'), error_on_fail=True)[source]#
Parameters:
Return type:

List[ndarray] | ndarray | None

move_home()[source]#
move_pose(pos, quat=None, timeout=10)[source]#
Parameters:

timeout (float) –

move_qpos(qpos, timeout=10)[source]#
Parameters:
Return type:

None

move_qpos_trajectory(qpos_list, timeout=10)[source]#
Parameters:

timeout (float) –

Return type:

None

open_gripper()[source]#
Return type:

None

print_pose()[source]#
reset_errors()[source]#
Return type:

None

run_calibration_fix()[source]#

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

set_manual_control()[source]#
visualize_camera_rgb()[source]#