concepts.hw_interface.franka.server.FrankaService#

class FrankaService[source]#

Bases: Service

Methods

call(command, *args, **kwargs)

capture_image()

Return the color and depth image.

close_gripper()

Close the gripper.

finalize()

get_camera_extrinsics()

Return the color and depth intrinsics matrices.

get_camera_intrinsics()

Return the color and depth intrinsics matrices.

get_ee_pose()

Return the end-effector pose.

get_qpos()

Return the current joint position.

grasp_gripper(width[, force])

Grasp an object with the gripper.

initialize()

move_home([timeout])

Move the robot to the home position.

move_qpos(qpos[, timeout])

Move the robot to a given joint position.

move_qpos_from_touch(qpos[, timeout])

Move the robot from a touch position to a given joint position.

move_qpos_to_touch(qpos[, timeout])

Move the robot to a touch position.

move_qpos_trajectory(qpos_list[, timeout])

open_gripper()

Open the gripper.

reset_errors()

Reset the error state of the robot.

serve_socket([name, tcp_port])

set_cart_impedance_freemotion()

Set the robot to Cartesian impedance mode with free motion.

Attributes

DEFAULT_PORTS

gripper

arm

camera

camera_extrinsics

__init__(configs=None, spec=None)#
__new__(**kwargs)#
call(command, *args, **kwargs)[source]#
capture_image()[source]#

Return the color and depth image.

Return type:

Tuple[ndarray, ndarray]

close_gripper()[source]#

Close the gripper.

Return type:

None

finalize()[source]#
get_camera_extrinsics()[source]#

Return the color and depth intrinsics matrices.

Return type:

ndarray

get_camera_intrinsics()[source]#

Return the color and depth intrinsics matrices.

Return type:

Tuple[ndarray, ndarray]

get_ee_pose()[source]#

Return the end-effector pose.

Return type:

Tuple[ndarray, ndarray]

get_qpos()[source]#

Return the current joint position.

Return type:

ndarray

grasp_gripper(width, force=40)[source]#

Grasp an object with the gripper.

Parameters:
initialize()[source]#
move_home(timeout=10)[source]#

Move the robot to the home position.

Parameters:

timeout (float) –

Return type:

None

move_qpos(qpos, timeout=10)[source]#

Move the robot to a given joint position.

Parameters:
Return type:

None

move_qpos_from_touch(qpos, timeout=10)[source]#

Move the robot from a touch position to a given joint position.

Parameters:
Return type:

None

move_qpos_to_touch(qpos, timeout=10)[source]#

Move the robot to a touch position.

Parameters:
Return type:

None

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

timeout (float) –

Return type:

None

open_gripper()[source]#

Open the gripper.

Return type:

None

reset_errors()[source]#

Reset the error state of the robot.

Return type:

None

serve_socket(name=None, tcp_port=None)#
set_cart_impedance_freemotion()[source]#

Set the robot to Cartesian impedance mode with free motion.

DEFAULT_PORTS = [12345, 12346]#
arm: franka_interface.ArmInterface#
camera: RealSenseDevice#
camera_extrinsics: ndarray#
property gripper#