franky.Model¶

class franky.Model¶

Bases: pybind11_object

A wrapper around franka::Model that uses Eigen types.

This class exposes the same functionality as franka::Model, but uses Eigen types for inputs and outputs instead of std::array. All 2D arrays are returned as Eigen matrices.

__init__(*args, **kwargs)¶

body_jacobian(*args, **kwargs)¶

Overloaded function.

body_jacobian(self: franky._franky.Model, frame: franky._franky.Frame, state: franky._franky.RobotState) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[6, 7]”]

Calculates the body Jacobian in the given frame.

Parameters:

frame – The frame for which the Jacobian is computed.
state – The current robot state.

Returns:

The 6x7 body Jacobian matrix.

body_jacobian(self: franky._franky.Model, frame: franky._franky.Frame, q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], F_T_EE: franky._franky.Affine, EE_T_K: franky._franky.Affine) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[6, 7]”]

Calculates the body Jacobian in the given frame.

Parameters:

frame – The frame for which the Jacobian is computed.
q – Robot joint angles [rad].
F_T_EE – Transformation from flange to end-effector frame.
EE_T_K – Transformation from end-effector frame to stiffness frame.

Returns:

The 6x7 body Jacobian matrix.

coriolis(*args, **kwargs)¶

Overloaded function.

coriolis(self: franky._franky.Model, state: franky._franky.RobotState) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[7, 1]”]

Calculates the Coriolis force vector.

Parameters:: state – The current robot state.
Returns:: The Coriolis vector [Nm].

coriolis(self: franky._franky.Model, q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], dq: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], I_total: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 3]”], m_total: typing.SupportsFloat | typing.SupportsIndex, F_x_Ctotal: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”]) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[7, 1]”]

Calculates the Coriolis force vector.

Parameters:

q – Robot joint angles [rad].
dq – Robot joint velocities [rad/s].
I_total – Combined load and robot inertia [kg·m²].
m_total – Combined mass of robot and load [kg].
F_x_Ctotal – Center of mass relative to flange frame [m].

Returns:

The Coriolis vector [Nm].

gravity(*args, **kwargs)¶

Overloaded function.

gravity(self: franky._franky.Model, state: franky._franky.RobotState, gravity_earth: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”]) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[7, 1]”]

Calculates the gravity vector.

Parameters:

state – The current robot state.
gravity_earth – Gravity vector in base frame [m/s²].

Returns:

The gravity vector [Nm].

gravity(self: franky._franky.Model, state: franky._franky.RobotState) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[7, 1]”]

Calculates the gravity vector using default gravity direction (0, 0, -9.81).

Parameters:: state – The current robot state.
Returns:: The gravity vector [Nm].

gravity(self: franky._franky.Model, q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], m_total: typing.SupportsFloat | typing.SupportsIndex, F_x_Ctotal: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”], gravity_earth: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”] = array([ 0. , 0. , -9.81])) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[7, 1]”]

Calculates the gravity vector.

Parameters:

q – Robot joint angles [rad].
m_total – Combined mass of robot and load [kg].
F_x_Ctotal – Center of mass relative to flange frame [m].
gravity_earth – Gravity vector in base frame [m/s²], default is (0, 0, -9.81).

Returns:

The gravity vector [Nm].

mass(*args, **kwargs)¶

Overloaded function.

mass(self: franky._franky.Model, state: franky._franky.RobotState) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[7, 7]”]

Calculates the mass matrix.

Parameters:: state – The current robot state.
Returns:: The 7x7 mass matrix.

mass(self: franky._franky.Model, q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], I_total: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 3]”], m_total: typing.SupportsFloat | typing.SupportsIndex, F_x_Ctotal: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”]) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[7, 7]”]

Calculates the mass matrix.

Parameters:

q – Robot joint angles [rad].
I_total – Combined load and robot inertia [kg·m²].
m_total – Combined mass of robot and load [kg].
F_x_Ctotal – Center of mass relative to flange frame [m].

Returns:

The 7x7 mass matrix.

pose(*args, **kwargs)¶

Overloaded function.

pose(self: franky._franky.Model, frame: franky._franky.Frame, state: franky._franky.RobotState) -> franky._franky.Affine

Calculates the pose of a frame relative to the base frame.

Parameters:

frame – The frame whose pose should be returned.
state – The current robot state.

Returns:

The pose as an affine transformation matrix.

pose(self: franky._franky.Model, frame: franky._franky.Frame, q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], F_T_EE: franky._franky.Affine, EE_T_K: franky._franky.Affine) -> franky._franky.Affine

Calculates the pose of a frame relative to the base frame.

Parameters:

frame – The frame whose pose should be returned.
q – Robot joint angles [rad].
F_T_EE – Transformation from flange to end-effector frame.
EE_T_K – Transformation from end-effector frame to stiffness frame.

Returns:

The pose as an affine transformation matrix.

zero_jacobian(*args, **kwargs)¶

Overloaded function.

zero_jacobian(self: franky._franky.Model, frame: franky._franky.Frame, state: franky._franky.RobotState) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[6, 7]”]

Calculates the zero Jacobian in base frame.

Parameters:

frame – The frame for which the Jacobian is computed.
state – The current robot state.

Returns:

The 6x7 zero Jacobian matrix.

zero_jacobian(self: franky._franky.Model, frame: franky._franky.Frame, q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], F_T_EE: franky._franky.Affine, EE_T_K: franky._franky.Affine) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], “[6, 7]”]

Calculates the zero Jacobian in base frame.

Parameters:

frame – The frame for which the Jacobian is computed.
q – Robot joint angles [rad].
F_T_EE – Transformation from flange to end-effector frame.
EE_T_K – Transformation from end-effector frame to stiffness frame.

Returns:

The 6x7 zero Jacobian matrix.