Class Hierarchy

This page shows the class hierarchy for all classes in pylibfranka.

Exception Hierarchy

All exceptions inherit from the base FrankaException:

Text Representation

Exception (Python built-in)
└── FrankaException
    ├── CommandException
    ├── ControlException
    ├── NetworkException
    ├── InvalidOperationException
    └── RealtimeException

Control and State Classes

The main classes for robot control and state access:

Class	Description
Robot	Main robot control interface
ActiveControlBase	Active control session for reading state and writing commands
RobotState	Complete robot state information
Model	Robot dynamics model

Gripper Classes

Class	Description
Gripper	Gripper control interface
GripperState	Gripper state information

Motion Command Types

All motion command types are independent data structures:

Class	Description
JointPositions	Joint space position commands
JointVelocities	Joint space velocity commands
CartesianPose	Cartesian space pose commands
CartesianVelocities	Cartesian space velocity commands
Torques	Joint torque commands

Enumeration Types

Enum	Description
RealtimeConfig	Real-time enforcement mode (kEnforce, kIgnore)
ControllerMode	Controller type (JointImpedance, CartesianImpedance)
RobotMode	Current robot operation mode

Other Types

Class	Description
Duration	Time duration representation
Errors	Robot error state flags

See Also

• Class List - Alphabetical class list

• Exceptions - Detailed exception documentation