concepts.hw_interface.franka.fri_client.FrankaRemoteClient#

class FrankaRemoteClient[source]#

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, auto_close=True)[source]#

Parameters:

close_gripper()[source]#

get_ee_pose()[source]#

get_qpos()[source]#

grasp(width=0.05, force=40)[source]#

Parameters:

Return type:

bool

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]#

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

Parameters:

Return type:

None

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

open_gripper(width=0.2)[source]#

print_pose()[source]#

reset_errors()[source]#

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]#