API Overview

This page provides a complete overview of all classes, types, and functions in pylibfranka.

Complete Class Reference

Control and Robot Classes

Type	Name	Description
C	ActiveControlBase	Allows the user to read the state of a Robot and to send new control commands after starting a control process of a Robot
C	Model	Calculates poses of joints and dynamic properties of the robot
C	Robot	Maintains a network connection to the robot, provides the current robot state, gives access to the model library and allows to control the robot

Gripper Classes

Type	Name	Description
C	Gripper	Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands
C	GripperState	Describes the gripper state

State and Error Classes

Type	Name	Description
C	Errors	Enumerates errors that can occur while controlling a Robot
C	RobotState	Describes the robot state including joint positions, velocities, torques, and transformation matrices

Motion Command Types

Type	Name	Description
C	CartesianPose	Stores values for Cartesian pose motion generation
C	CartesianVelocities	Stores values for Cartesian velocity motion generation
C	JointPositions	Stores values for joint position motion generation
C	JointVelocities	Stores values for joint velocity motion generation
C	Torques	Stores values for torque control

Enumeration Types

Type	Name	Description
E	ControllerMode	Enumeration for controller mode selection (JointImpedance, CartesianImpedance)
E	RealtimeConfig	Enumeration for real-time scheduling requirements (kEnforce, kIgnore)
E	RobotMode	Enumerates different robot operation modes

Utility Types

Type	Name	Description
C	Duration	Represents a duration with millisecond resolution

Exception Classes

Type	Name	Description
C	CommandException	Thrown if an error occurs during command execution
C	ControlException	Thrown if an error occurs during motion generation or torque control
C	FrankaException	Base class for all exceptions used by libfranka
C	InvalidOperationException	Thrown if an operation cannot be performed
C	NetworkException	Thrown if a connection to the robot cannot be established, or when a timeout occurs
C	RealtimeException	Thrown if real-time scheduling requirements cannot be met

Legend

• C = Class/Type

• E = Enumeration

Quick Links by Category

Robot Control

• Robot - Main robot interface

• ActiveControlBase - Active control loop interface

• Model - Dynamics computations

Gripper Control

• Gripper - Gripper interface

• GripperState - Gripper state

State Access

• RobotState - Complete robot state

• RobotMode - Robot operation mode

• Errors - Error flags

Motion Commands

• Torques - Torque commands

• JointPositions - Joint position commands

• JointVelocities - Joint velocity commands

• CartesianPose - Cartesian pose commands

• CartesianVelocities - Cartesian velocity commands

Error Handling

• FrankaException - Base exception

• CommandException - Command errors

• ControlException - Control errors

• NetworkException - Network errors

• InvalidOperationException - Invalid operations

• RealtimeException - Real-time errors

Configuration

• RealtimeConfig - Real-time enforcement

• ControllerMode - Controller selection

• Duration - Time representation

See Also

• Class Hierarchy - View inheritance relationships

• Module Reference - Browse by module organization

• Index - Alphabetical index