libfranka: C++ Library for Franka Robotics Research Robots
===========================================================

.. image:: https://codecov.io/gh/frankarobotics/libfranka/branch/master/graph/badge.svg
   :target: https://codecov.io/gh/frankarobotics/libfranka
   :alt: codecov

.. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/libfranka-build.yml?label=build&logo=github&logoColor=white
   :target: https://github.com/frankarobotics/libfranka/actions/workflows/libfranka-build.yml
   :alt: build status

.. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/pylibfranka-docs.yml?label=python%20docs&logo=sphinx&logoColor=white
   :target: https://github.com/frankarobotics/libfranka/actions/workflows/pylibfranka-docs.yml
   :alt: pylibfranka docs build status

.. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/doxygen.yml?label=Doxygen&logo=doxygen&logoColor=white
   :target: https://github.com/frankarobotics/libfranka/actions/workflows/doxygen.yml
   :alt: doxygen build status

.. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/docker-image.yml?label=docker&logo=docker&logoColor=white
   :target: https://github.com/frankarobotics/libfranka/actions/workflows/docker-image.yml
   :alt: docker build status

**libfranka** is a C++ library that provides low-level control of Franka Robotics research robots.
The `API References <https://frankarobotics.github.io/docs/libfranka/docs/api_references.html>`_ offers an overview of its capabilities,
while the `Franka Control Interface (FCI) documentation <https://frankarobotics.github.io/docs>`_ provides more information on setting up the robot and utilizing its features and functionalities.

To find the appropriate version to use, please refer to the `Robot System Version Compatibility <https://frankarobotics.github.io/docs/libfranka/docs/compatibility_with_images.html>`_.

Key Features
------------

- **Low-level control**: Access precise motion control for research robots.
- **Real-time communication**: Interact with the robot in real-time.
- **Multi-platform support**: Ubuntu 20.04, 22.04, and 24.04 LTS


1. System Requirements
~~~~~~~~~~~~~~~~~~~~~~

Before using **libfranka**, ensure your system meets the following requirements:

**Operating System**:
   - Ubuntu 20.04 LTS (Focal Fossa)
   - Ubuntu 22.04 LTS (Jammy Jellyfish)
   - Ubuntu 24.04 LTS (Noble Numbat)
   - `Linux with PREEMPT_RT patched kernel <https://frankarobotics.github.io/docs/libfranka/docs/real_time_kernel.html>`_ recommended for real-time control

**Build Tools** (for building from source):
   - GCC 9 or later
   - CMake 3.22 or later
   - Git

**Hardware**:
   - Franka Robotics robot with FCI feature installed
   - Network connection to robot (1000BASE-T Ethernet recommended)

.. _installation-debian-package:

2. Installation from Debian Package (Recommended)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The easiest way to install **libfranka** is by using the pre-built Debian packages
published on GitHub.

Supported Platforms
^^^^^^^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 28 18 18 26

   * - Ubuntu Version
     - Codename
     - Architecture
     - Build Status
   * - 20.04 LTS
     - focal
     - amd64
     - .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/libfranka-build.yml?label=Ubuntu+20.04&logo=ubuntu&logoColor=white
          :target: https://github.com/frankarobotics/libfranka/actions/workflows/libfranka-build.yml
          :alt: Ubuntu 20.04 build status
   * - 22.04 LTS
     - jammy
     - amd64
     - .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/libfranka-build.yml?label=Ubuntu+22.04&logo=ubuntu&logoColor=white
          :target: https://github.com/frankarobotics/libfranka/actions/workflows/libfranka-build.yml
          :alt: Ubuntu 22.04 build status
   * - 24.04 LTS
     - noble
     - amd64
     - .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/libfranka-build.yml?label=Ubuntu+24.04&logo=ubuntu&logoColor=white
          :target: https://github.com/frankarobotics/libfranka/actions/workflows/libfranka-build.yml
          :alt: Ubuntu 24.04 build status

Quick Install
^^^^^^^^^^^^^

substitute `<libfranka_version>` with the desired version number (e.g., `0.19.0`). And
substitute `<ubuntu_codename>` with your Ubuntu codename (e.g., `focal`, `jammy`, `noble`). you can find it by running `lsb_release -cs`.


.. code-block:: bash

   # Download package
   wget https://github.com/frankarobotics/libfranka/releases/download/<libfranka_version>/libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb

   # Download checksum
   wget https://github.com/frankarobotics/libfranka/releases/download/<libfranka_version>/libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb.sha256

   # Verify package integrity
   sha256sum -c libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb.sha256

   # Install package
   sudo dpkg -i libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb

Example
^^^^^^^

The following example installs **libfranka 0.19.0** on **Ubuntu 22.04 (Jammy)**:

.. code-block:: bash


   wget https://github.com/frankarobotics/libfranka/releases/download/0.19.0/libfranka_0.19.0_jammy_amd64.deb
   wget https://github.com/frankarobotics/libfranka/releases/download/0.19.0/libfranka_0.19.0_jammy_amd64.deb.sha256
   sha256sum -c libfranka_0.19.0_jammy_amd64.deb.sha256
   sudo dpkg -i libfranka_0.19.0_jammy_amd64.deb

.. tip::

   All released versions, packages, and checksums are available on the
   `GitHub Releases page <https://github.com/frankarobotics/libfranka/releases>`_.


.. _building-with-docker:

3. Building with Docker (Development Environment)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Docker provides a consistent, isolated build environment. This method is ideal for:

- Development and testing
- Building for multiple Ubuntu versions
- Avoiding dependency conflicts on your host system

Prerequisites
^^^^^^^^^^^^^

- Docker installed on your system
- Visual Studio Code with Dev Containers extension (optional, for VS Code users)

Clone the Repository
^^^^^^^^^^^^^^^^^^^^

.. code-block:: bash

   git clone --recurse-submodules https://github.com/frankarobotics/libfranka.git
   cd libfranka
   git checkout 0.19.0  # or your desired version

Method A: Using Visual Studio Code (Recommended)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1. **Install Visual Studio Code**

   Download from https://code.visualstudio.com/

2. **Install the Dev Containers extension**

   - Open VS Code
   - Go to Extensions (Ctrl+Shift+X)
   - Search for "Dev Containers" and install it

3. **Configure Ubuntu version** (optional, defaults to 20.04)

   Edit ``devcontainer_distro`` file in the project root and specify the desired Ubuntu version:

   .. code-block:: bash

     22.04  # Ubuntu 22.04 (default)


4. **Open in container**

   - Open the project in VS Code: ``code .``
   - Press ``Ctrl+Shift+P``
   - Select "Dev Containers: Reopen in Container"
   - Wait for the container to build

5. **Build libfranka**

   Open a terminal in VS Code and run:

   .. code-block:: bash

      mkdir build && cd build
      cmake -DCMAKE_BUILD_TYPE=Release ..
      cmake --build . -- -j$(nproc)

6. **Create Debian package** (optional)

   .. code-block:: bash

      cd build
      cpack -G DEB

   The package will be in the ``build/`` directory. To install on your host system:

   .. code-block:: bash

      # On host system (outside container)
      cd libfranka/build
      sudo dpkg -i libfranka*.deb

Method B: Using Docker Command Line
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1. **Build the Docker image**

   .. code-block:: bash

      # For Ubuntu 20.04
      docker build --build-arg UBUNTU_VERSION=20.04 -t libfranka-build:20.04 .ci/

      # For Ubuntu 22.04
      docker build --build-arg UBUNTU_VERSION=22.04 -t libfranka-build:22.04 .ci/

      # For Ubuntu 24.04
      docker build --build-arg UBUNTU_VERSION=24.04 -t libfranka-build:24.04 .ci/

2. **Run the container and build**

   .. code-block:: bash

      docker run --rm -it -v $(pwd):/workspaces -w /workspaces libfranka-build:20.04

      # Inside container:
      mkdir build && cd build
      cmake -DCMAKE_BUILD_TYPE=Release ..
      cmake --build . -- -j$(nproc)
      cpack -G DEB
      exit

3. **Install on host system**

   .. code-block:: bash

      cd build
      sudo dpkg -i libfranka*.deb

.. _building-from-source:

4. Building from Source (Advanced)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Prerequisites
^^^^^^^^^^^^^

**System packages:**

.. code-block:: bash

   sudo apt-get update
   sudo apt-get install -y \
       build-essential \
       cmake \
       git \
       wget \
       libeigen3-dev \
       libpoco-dev \
       libfmt-dev \
       pybind11-dev

**Ubuntu 20.04:** ensure CMake >= 3.22:

.. code-block:: bash

   wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc | gpg --dearmor -o /usr/share/keyrings/kitware-archive-keyring.gpg
   echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main" | sudo tee /etc/apt/sources.list.d/kitware.list
   sudo apt-get update
   sudo apt-get install -y cmake

Remove Existing Installations
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. code-block:: bash

   sudo apt-get remove -y "*libfranka*"

Build Dependencies from Source
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Follow these steps **in order**. All dependencies are built with static linking.

**1. Boost 1.77.0**

.. code-block:: bash

   git clone --depth 1 --recurse-submodules --shallow-submodules \
       --branch boost-1.77.0 https://github.com/boostorg/boost.git
   cd boost
   ./bootstrap.sh --prefix=/usr/local
   sudo ./b2 install -j$(nproc)
   cd .. && rm -rf boost

**2. TinyXML2**

.. code-block:: bash

   git clone --depth 1 --branch 10.0.0 https://github.com/leethomason/tinyxml2.git
   cd tinyxml2
   mkdir build && cd build

   cmake .. \
     -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
     -DBUILD_SHARED_LIBS=OFF \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_INSTALL_PREFIX=/usr/local

   make -j$(nproc)
   sudo make install

   cd ../.. && rm -rf tinyxml2

**3. console_bridge**

.. code-block:: bash

   git clone --depth 1 --branch 1.0.2 https://github.com/ros/console_bridge.git
   cd console_bridge
   mkdir build && cd build

   cmake .. \
     -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
     -DBUILD_SHARED_LIBS=OFF \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_INSTALL_PREFIX=/usr/local

   make -j$(nproc)
   sudo make install

   cd ../..
   rm -rf console_bridge


**4. urdfdom_headers**

.. code-block:: bash

   git clone --depth 1 --branch 1.0.5 https://github.com/ros/urdfdom_headers.git
   cd urdfdom_headers
   mkdir build && cd build

   cmake .. \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_INSTALL_PREFIX=/usr/local

   make -j$(nproc)
   sudo make install

   cd ../..
   rm -rf urdfdom_headers


**5. urdfdom (with patch)**

.. code-block:: bash

   wget https://raw.githubusercontent.com/frankarobotics/libfranka/main/.ci/urdfdom.patch

   git clone --depth 1 --branch 4.0.0 https://github.com/ros/urdfdom.git
   cd urdfdom

   git apply ../urdfdom.patch

   mkdir build && cd build
   cmake .. \
     -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
     -DBUILD_SHARED_LIBS=OFF \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_INSTALL_PREFIX=/usr/local

   make -j$(nproc)
   sudo make install
   cd ../..
   rm -rf urdfdom


**6. Assimp**

.. code-block:: bash

   git clone --depth 1 --recurse-submodules --shallow-submodules \
       --branch v5.4.3 https://github.com/assimp/assimp.git
   cd assimp && mkdir build && cd build
   cmake .. -DBoost_USE_STATIC_LIBS=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DASSIMP_BUILD_TESTS=OFF \
       -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local
   make -j$(nproc) && sudo make install
   cd ../.. && rm -rf assimp

**7. Pinocchio (with patch)**

.. code-block:: bash

   wget https://raw.githubusercontent.com/frankarobotics/libfranka/main/.ci/pinocchio.patch
   git clone --depth 1 --recurse-submodules --shallow-submodules \
       --branch v3.4.0 https://github.com/stack-of-tasks/pinocchio.git
   cd pinocchio && git apply ../pinocchio.patch
   mkdir build && cd build
   cmake .. -DBoost_USE_STATIC_LIBS=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_PYTHON_INTERFACE=OFF \
       -DBUILD_DOCUMENTATION=OFF -DBUILD_TESTING=OFF \
       -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local
   make -j$(nproc) && sudo make install
   cd ../.. && rm -rf pinocchio

Build libfranka
^^^^^^^^^^^^^^^

.. code-block:: bash

   git clone --recurse-submodules https://github.com/frankarobotics/libfranka.git
   cd libfranka
   git checkout 0.19.0
   git submodule update --init --recursive

   mkdir build && cd build
   cmake -DCMAKE_BUILD_TYPE=Release \
         -DCMAKE_INSTALL_PREFIX=/usr/local ..
   cmake --build . -- -j$(nproc)

Create Debian Package (Optional)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Inside the build folder, run:

.. code-block:: bash

   cpack -G DEB
   sudo dpkg -i libfranka*.deb

.. _verifying-installation:

5. Verifying Installation
~~~~~~~~~~~~~~~~~~~~~~~~~~

After installation (any method), verify that libfranka is properly installed:

**Check library file:**

.. code-block:: bash

   ls -l /usr/lib/libfranka.so

Expected output:

.. code-block:: text

   /usr/lib/libfranka.so -> libfranka.so.0.19.0

**Check header files:**

.. code-block:: bash

   ls /usr/include/franka/

Expected output:

.. code-block:: text

   active_control_base.h      active_torque_control.h  control_tools.h
   gripper_state.h            lowpass_filter.h         robot.h
   ...

**Check installed package version:**

.. code-block:: bash

   dpkg -l | grep libfranka

Expected output:

.. code-block:: text

   ii  libfranka  0.19.0  amd64  libfranka - Franka Robotics C++ library

.. _usage:

6. Usage
~~~~~~~~

After installation, configure your system for real-time control and run example programs:

System Setup
^^^^^^^^^^^^

1. **Network configuration**: Follow `Minimum System and Network Requirements <https://frankarobotics.github.io/docs/libfranka/docs/system_requirements.html>`_
2. **Real-time kernel**: See `Setting up the Real-Time Kernel <https://frankarobotics.github.io/docs/libfranka/docs/real_time_kernel.html>`_
3. **Getting started**: Read the `Getting Started Manual <https://frankarobotics.github.io/docs/libfranka/docs/getting_started.html>`_

Running Examples
^^^^^^^^^^^^^^^^

If you built from source, example programs are in the ``build/examples/`` directory:

.. code-block:: bash

   cd build/examples
   ./communication_test <robot-ip>

Replace ``<robot-ip>`` with your robot's IP address (e.g., ``192.168.1.1``).

For more examples, see the `Usage Examples documentation <https://frankarobotics.github.io/docs/libfranka/docs/usage_examples.html>`_.

.. _pylibfranka:

7. Pylibfranka (Python Bindings)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. list-table::
   :header-rows: 1
   :widths: 25 50

   * - Ubuntu Version
     - Wheel Build Status
   * - Ubuntu 20.04
     - .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/pylibfranka-wheels.yml?label=python3.9&logo=python&logoColor=white
          :target: https://github.com/frankarobotics/libfranka/actions/workflows/pylibfranka-wheels.yml
          :alt: Python 3.9 wheel build status
   * - Ubuntu 22.04
     - .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/pylibfranka-wheels.yml?label=python3.10&logo=python&logoColor=white
          :target: https://github.com/frankarobotics/libfranka/actions/workflows/pylibfranka-wheels.yml
          :alt: Python 3.10 wheel build status
       .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/pylibfranka-wheels.yml?label=python3.11&logo=python&logoColor=white
          :target: https://github.com/frankarobotics/libfranka/actions/workflows/pylibfranka-wheels.yml
          :alt: Python 3.11 wheel build status
   * - Ubuntu 24.04
     - .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/pylibfranka-wheels.yml?label=python3.12&logo=python&logoColor=white
          :target: https://github.com/frankarobotics/libfranka/actions/workflows/pylibfranka-wheels.yml
          :alt: Python 3.12 wheel build status

**Pylibfranka** provides Python bindings for libfranka, allowing robot control with Python.

Installation
^^^^^^^^^^^^

Pylibfranka is included in the libfranka Debian packages. For manual installation:

.. code-block:: bash

   # Build with Python bindings enabled
   cd libfranka/build
   cmake -DGENERATE_PYLIBFRANKA=ON ..
   cmake --build . -- -j$(nproc)
   sudo cmake --install .

Documentation
^^^^^^^^^^^^^

- `API Documentation <https://frankarobotics.github.io/libfranka/pylibfranka/latest>`_

.. _development-information:

8. Development Information
~~~~~~~~~~~~~~~~~~~~~~~~~~

Contributing to libfranka
^^^^^^^^^^^^^^^^^^^^^^^^^^

If you're contributing to libfranka development:

**Install pre-commit hooks:**

.. code-block:: bash

   pip install pre-commit
   pre-commit install

This automatically runs code formatting and linting checks before each commit.

**Run checks manually:**

.. code-block:: bash

   pre-commit run --all-files

Build Options
^^^^^^^^^^^^^

Customize your build with CMake options:

.. list-table::
   :header-rows: 1
   :widths: 35 50 15

   * - Option
     - Description
     - Default
   * - ``CMAKE_BUILD_TYPE``
     - Build type (Release/Debug)
     - Release
   * - ``BUILD_TESTS``
     - Build unit tests
     - ON
   * - ``BUILD_EXAMPLES``
     - Build example programs
     - ON
   * - ``GENERATE_PYLIBFRANKA``
     - Build Python bindings
     - OFF
   * - ``CMAKE_INSTALL_PREFIX``
     - Installation directory
     - /usr/local

Example:

.. code-block:: bash

   cmake -DCMAKE_BUILD_TYPE=Debug \
         -DBUILD_TESTS=ON \
         -DGENERATE_PYLIBFRANKA=ON \
         ..

.. _troubleshooting:

Troubleshooting
~~~~~~~~~~~~~~~

**Network connection issues**

See the `Troubleshooting Network <https://frankarobotics.github.io/docs/libfranka/docs/troubleshooting.html>`_ guide.

License
-------

``libfranka`` is licensed under the `Apache 2.0 license <https://www.apache.org/licenses/LICENSE-2.0.html>`_.

pylibfranka Installation and Usage Guide
-----------------------------------------

This document provides comprehensive instructions for installing and using pylibfranka, a Python binding for libfranka that enables control of Franka Robotics robots.

Table of Contents
~~~~~~~~~~~~~~~~~

- `Installation`_
- `Examples`_
- `Troubleshooting`_

.. _installation:

Installation
~~~~~~~~~~~~

From PyPI (Recommended)
~~~~~~~~~~~~~~~~~~~~~~~

The easiest way to install pylibfranka is via pip. Pre-built wheels include all necessary dependencies.

.. code-block:: bash

   pip install pylibfranka

Platform Compatibility
~~~~~~~~~~~~~~~~~~~~~~

.. list-table::
   :header-rows: 1
   :widths: 30 70

   * - Ubuntu Version
     - Supported Python Versions
   * - 20.04 (Focal)
     - Python 3.9 only
   * - 22.04 (Jammy)
     - Python 3.9, 3.10, 3.11, 3.12
   * - 24.04 (Noble)
     - Python 3.9, 3.10, 3.11, 3.12

**Note:** Ubuntu 20.04 users must use Python 3.9 due to glibc compatibility requirements.

From Source
~~~~~~~~~~~

If you need to build from source (e.g., for development or unsupported platforms):

Prerequisites
~~~~~~~~~~~~~

- Python 3.9 or newer
- CMake 3.16 or newer
- C++ compiler with C++17 support
- Eigen3 development headers
- Poco development headers

**Disclaimer: If you are using the provided devcontainer, you can skip the prerequisites installation as they are already included in the container.**

Installing Prerequisites on Ubuntu/Debian
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. code-block:: bash

   sudo apt-get update
   sudo apt-get install -y build-essential cmake libeigen3-dev libpoco-dev python3-dev

Build and Install
~~~~~~~~~~~~~~~~~

From the root folder, you can install `pylibfranka` using pip:

.. code-block:: bash

   pip install .


This will install pylibfranka in your current Python environment.

.. _examples:

Examples
^^^^^^^^

pylibfranka comes with three example scripts that demonstrate how to use the library to control a Franka robot.

Joint Position Example
~~~~~~~~~~~~~~~~~~~~~~

This example demonstrates how to use an external control loop with pylibfranka to move the robot joints.

To run the example:

.. code-block:: bash

   cd examples
   python3 joint_position_example.py --ip <robot_ip>

Where `<robot_ip>` is the IP address of your Franka robot. If not specified, it defaults to "localhost".

The active control example:
- Sets collision behavior parameters
- Starts joint position control with CartesianImpedance controller mode
- Moves the robot using an external control loop
- Performs a simple motion of selected joints

Print Robot State Example
~~~~~~~~~~~~~~~~~~~~~~~~~~

This example shows how to read and display the complete state of the robot.

To run the example:

.. code-block:: bash

   cd examples
   python3 print_robot_state.py --ip <robot_ip> [--rate <rate>] [--count <count>]

Where:
- `--ip` is the robot's IP address (defaults to "localhost")
- `--rate` is the frequency at which to print the state in Hz (defaults to 0.5)
- `--count` is the number of state readings to print (defaults to 1, use 0 for continuous)

The print robot state example:

- Connects to the robot
- Reads the complete robot state
- Prints detailed information about:

  - Joint positions, velocities, and torques
  - End effector pose and velocities
  - External forces and torques
  - Robot mode and error states
  - Mass and inertia properties

Joint Impedance Control Example
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

This example demonstrates how to implement a joint impedance controller that renders a spring-damper system to move the robot through a sequence of target joint configurations.

To run the example:

.. code-block:: bash

   cd examples
   python3 joint_impedance_example.py --ip <robot_ip>

Where `--ip` is the robot's IP address (defaults to "localhost").

The joint impedance example:

- Implements a minimum jerk trajectory generator for smooth joint motion
- Uses a spring-damper system for compliant control
- Moves through a sequence of predefined joint configurations:

  - Home position (slightly bent arm)
  - Extended arm pointing forward
  - Arm pointing to the right
  - Arm pointing to the left
  - Return to home position

- Includes position holding with dwell time between movements
- Compensates for Coriolis effects

And more control examples
~~~~~~~~~~~~~~~~~~~~~~~~~

There are more control examples to discover. All of them can be executed in a similar way:

.. code-block:: bash

   cd examples
   python3 other_example.py --ip <robot_ip>

Gripper Control Example
~~~~~~~~~~~~~~~~~~~~~~~

This example demonstrates how to control the Franka gripper, including homing, grasping, and reading gripper state.

To run the example:

.. code-block:: bash

   cd examples
   python3 move_gripper.py --robot_ip <robot_ip> [--width <width>] [--homing <0|1>] [--speed <speed>] [--force <force>]

Where:
- `--robot_ip` is the robot's IP address (required)
- `--width` is the object width to grasp in meters (defaults to 0.005)
- `--homing` enables/disables gripper homing (0 or 1, defaults to 1)
- `--speed` is the gripper speed (defaults to 0.1)
- `--force` is the gripper force in N (defaults to 60)

The gripper example:

- Connects to the gripper
- Performs homing to estimate maximum grasping width
- Reads and displays gripper state including:

  - Current width
  - Maximum width
  - Grasp status
  - Temperature
  - Timestamp

- Attempts to grasp an object with specified parameters
- Verifies successful grasping
- Releases the object