concepts.hw_interface.franka.fri_server.FrankaServiceClient#

class FrankaServiceClient[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`([auto_close])
`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`([width])
`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=None, **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:

width (float)
force (float)

initialize(auto_close=False)#

move_home(timeout=10)[source]#

Parameters:: timeout (float)
Return type:: None

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

Parameters:

qpos (ndarray)
timeout (float)

Return type:

None

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

Parameters:

qpos (ndarray)
timeout (float)

Return type:

None

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

Parameters:

qpos (ndarray)
timeout (float)

Return type:

None

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

Parameters:: timeout (float)
Return type:: None

open_gripper(width=0.2)[source]#

Parameters:: width (float)
Return type:: None

reset_errors()[source]#

Return type:: None

set_cart_impedance_freemotion()[source]#

property initialized#