concepts.hw_interface.franka.fri_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:

width (float)
force (float)

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:

qpos (ndarray)
timeout (float)

Return type:

None

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

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

Parameters:

qpos (ndarray)
timeout (float)

Return type:

None

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

Move the robot to a touch position.

Parameters:

qpos (ndarray)
timeout (float)

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 | None#

camera: RealSenseDevice | None#

camera_extrinsics: ndarray | None#

property gripper#