concepts.hw_interface.franka.server.FrankaClient#

class FrankaClient[source]#

Bases: SocketClient

Methods

activate()

call(*args[, echo])

capture_image()

close_gripper()

finalize()

get_camera_extrinsics()

get_camera_intrinsics()

get_client_identifier()

get_configs()

get_ee_pose()

get_qpos()

get_server_conn_info()

get_server_identifier()

get_server_name()

get_signature()

get_spec()

grasp_gripper([width, force])

initialize()

move_home([timeout])

move_qpos(qpos[, timeout])

move_qpos_from_touch(qpos[, timeout])

move_qpos_to_touch(qpos[, timeout])

move_qpos_trajectory(qpos_list[, timeout])

open_gripper()

reset_errors()

set_cart_impedance_freemotion()

Attributes

initialized

__init__(server, name='franka-client', port_pair=None, automatic_reset_errors=True)[source]#
Parameters:

  • server (str) –

  • automatic_reset_errors (bool) –

__new__(**kwargs)#
activate()#
call(*args, echo=True, **kwargs)#
capture_image()[source]#
Return type:

Tuple[ndarray, ndarray]

close_gripper()[source]#
Return type:

None

finalize()#
get_camera_extrinsics()[source]#
Return type:

Tuple[ndarray, ndarray]

get_camera_intrinsics()[source]#
Return type:

Tuple[ndarray, ndarray]

get_client_identifier()#
get_configs()#
get_ee_pose()[source]#
Return type:

Tuple[ndarray, ndarray]

get_qpos()[source]#
Return type:

ndarray

get_server_conn_info()#
get_server_identifier()#
get_server_name()#
get_signature()#
get_spec()#
grasp_gripper(width=0.05, force=40)[source]#
Parameters:
initialize()#
move_home(timeout=10)[source]#
Parameters:

timeout (float) –

Return type:

None

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

None

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

None

move_qpos_to_touch(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

reset_errors()[source]#
Return type:

None

set_cart_impedance_freemotion()[source]#
property initialized#