franky.Errors¶

class franky.Errors¶

Bases: pybind11_object

Enumerates errors that can occur while controlling a franka::Robot.

__init__(self: franky._franky.Errors) → None¶

property base_acceleration_initialization_timeout¶: True if the gravity vector could not be initialized by measureing the base acceleration.

property base_acceleration_invalid_reading¶: True if the base acceleration O_ddP_O cannot be determined.

property cartesian_motion_generator_acceleration_discontinuity¶: True if commanded acceleration in Cartesian motion generators is discontinuous (target values are too far apart).

property cartesian_motion_generator_elbow_limit_violation¶: True if an external Cartesian motion generator would move into an elbow limit.

property cartesian_motion_generator_elbow_sign_inconsistent¶: True if commanded elbow values in Cartesian motion generators are inconsistent.

property cartesian_motion_generator_joint_acceleration_discontinuity¶: True if the joint acceleration in Cartesian motion generators is discontinuous after IK calculation.

property cartesian_motion_generator_joint_position_limits_violation¶: True if the joint position limits would be exceeded after IK calculation.

property cartesian_motion_generator_joint_velocity_discontinuity¶: True if the joint velocity in Cartesian motion generators is discontinuous after IK calculation.

property cartesian_motion_generator_joint_velocity_limits_violation¶: True if the joint velocity limits would be exceeded after IK calculation.

property cartesian_motion_generator_start_elbow_invalid¶: True if the first elbow value in Cartesian motion generators is too far from initial one.

property cartesian_motion_generator_velocity_discontinuity¶: True if commanded velocity in Cartesian motion generators is discontinuous (target values are too far apart).

property cartesian_motion_generator_velocity_limits_violation¶: True if an external Cartesian motion generator would move with too high velocity.

property cartesian_position_limits_violation¶: True if the robot moved past any of the virtual walls.

property cartesian_position_motion_generator_invalid_frame¶: True if the Cartesian pose is not a valid transformation matrix.

property cartesian_position_motion_generator_start_pose_invalid¶: True if an external Cartesian position motion generator was started with a pose too far from the current pose.

property cartesian_reflex¶: True if a collision was detected, i.e. the robot exceeded a torque threshold in a Cartesian motion.

property cartesian_spline_motion_generator_violation¶: True if the generated motion violates a joint limit.

property cartesian_velocity_profile_safety_violation¶: True if Cartesian velocity profile for internal motions was exceeded.

property cartesian_velocity_violation¶: True if the robot exceeded Cartesian velocity limits.

property communication_constraints_violation¶: True if minimum network communication quality could not be held during a motion.

property controller_torque_discontinuity¶: True if the torque set by the external controller is discontinuous.

property force_control_safety_violation¶: True if the robot exceeded safety threshold during force control.

property force_controller_desired_force_tolerance_violation¶: True if desired force exceeds the safety thresholds.

property instability_detected¶: True if an instability is detected.

property joint_motion_generator_acceleration_discontinuity¶: True if commanded acceleration in joint motion generators is discontinuous (target values are too far apart).

property joint_motion_generator_position_limits_violation¶: True if an external joint motion generator would move into a joint limit.

property joint_motion_generator_velocity_discontinuity¶: True if commanded velocity in joint motion generators is discontinuous (target values are too far apart).

property joint_motion_generator_velocity_limits_violation¶: True if an external joint motion generator exceeded velocity limits.

property joint_move_in_wrong_direction¶: True if the robot is in joint position limits violation error and the user guides the robot further towards the limit.

property joint_p2p_insufficient_torque_for_planning¶

True if the robot is overloaded for the required motion.

Applies only to motions started from Desk.

property joint_position_limits_violation¶: True if the robot moved past the joint limits.

property joint_position_motion_generator_start_pose_invalid¶: True if an external joint position motion generator was started with a pose too far from the current pose.

property joint_reflex¶: True if a collision was detected, i.e. the robot exceeded a torque threshold in a joint motion.

property joint_velocity_violation¶: True if the robot exceeded joint velocity limits.

property joint_via_motion_generator_planning_joint_limit_violation¶: True if the generated motion violates a joint limit.

property max_goal_pose_deviation_violation¶: True if internal motion generator did not reach the goal pose.

property max_path_pose_deviation_violation¶: True if internal motion generator deviated from the path.

property power_limit_violation¶: True if commanded values would result in exceeding the power limit.

property self_collision_avoidance_violation¶: True if the robot would have collided with itself.

property start_elbow_sign_inconsistent¶

True if the start elbow sign was inconsistent.

Applies only to motions started from Desk.

property tau_j_range_violation¶: True if the measured torque signal is out of the safe range.