Module Reference#

This page provides an overview of the module structure in pylibfranka.

Main Module#

All classes and types are available directly from the top-level pylibfranka module:

import pylibfranka

robot = pylibfranka.Robot("172.16.0.2")
gripper = pylibfranka.Gripper("172.16.0.2")

`Robot`	Main interface for controlling a Franka robot.
`ActiveControlBase`	Base class for active robot control providing real-time command interface.
`Model`	Robot dynamics model for computing dynamics quantities.
`Gripper`	Interface for controlling a Franka Hand gripper.
`GripperState`	Current state of the Franka Hand gripper.
`RobotState`	Current state of the Franka robot.
`RobotMode`	Robot operating mode.
`Errors`	Robot error state containing boolean flags for all possible errors.
`JointPositions`	Joint position control command.
`JointVelocities`	Joint velocity control command.
`CartesianPose`	Cartesian pose control command.
`CartesianVelocities`	Cartesian velocity control command.
`Torques`	Torque control command.
`Duration`	Time duration representation.
`RealtimeConfig`	Real-time configuration options.
`ControllerMode`	Controller mode for motion control.
`FrankaException`
`CommandException`
`ControlException`
`NetworkException`
`InvalidOperationException`
`RealtimeException`

For detailed documentation organized by functionality, see:

Classes for establishing connection and controlling the robot:

Data structures for sending motion commands:

Classes for reading robot state and computing dynamics:

Classes for gripper control:

Exception hierarchy for error handling: