🐍 Python API¶

All classes listed here are available directly from the top-level franky module, e.g. from franky import Robot. For a task-oriented introduction, see the guide.

Robot¶

The central classes for connecting to and configuring the robot. See the Robot chapter of the guide for an introduction.

`Robot`	A class representing a Franka robot, and the main entry point of franky.
`Model`	A wrapper around franka::Model that uses Eigen types.
`Frame`	Enumerates the seven joints, the flange, and the end effector of a robot.
`RobotState`	Full state of the robot
`Errors`	Enumerates errors that can occur while controlling a franka::Robot.
`RobotMode`	Describes the robot's current mode.
`RealtimeConfig`	Used to decide whether to enforce realtime mode for a control loop thread.
`ControllerMode`	Available controller modes for a franka::Robot.
`ControlSignalType`	Type of control signal.
`Duration`	Represents a duration with millisecond resolution.
`RelativeDynamicsFactor`	Relative dynamics factors
`DoubleDynamicsLimit`	A template class representing a dynamics limit with a maximum value.
`VectorDynamicsLimit`	A template class representing a dynamics limit with a maximum value.

Geometry and Kinematic State¶

Types describing poses, twists, and joint-space and Cartesian-space states. See the Geometry chapter of the guide for an introduction.

`Affine`	A rigid 3D transformation consisting of a translation and a rotation.
`Twist`	Twist of a frame.
`TwistAcceleration`	Acceleration of a frame (2nd time derivative of a pose, consisting of a linear and an angular acceleration).
`RobotPose`	Cartesian pose of a robot.
`RobotVelocity`	Cartesian velocity of a robot.
`ElbowState`	Elbow state of the robot.
`FlipDirection`	Flip direction of a joint.
`CartesianState`	Cartesian state of a robot.
`CartesianPose`	Stores values for Cartesian pose motion generation.
`CartesianVelocities`	Stores values for Cartesian velocity motion generation.
`JointState`	Joint state of a robot.
`JointPositions`	Stores values for joint position motion generation.
`JointVelocities`	Stores values for joint velocity motion generation.
`Torques`	Stores joint-level torque commands without gravity and friction.
`ReferenceType`	Enum class for reference types.
`CartesianReference`	Cartesian impedance reference expressed in the base frame.
`JointReference`	Joint-space reference for joint impedance motions.

Trajectory Motions¶

Motion types for the four trajectory control modes. See the Trajectory Control chapter of the guide for an introduction.

Joint Position Control¶

`Motion`
`JointMotion`	Joint motion with a single target.
`JointWaypointMotion`	Joint waypoint motion.
`JointWaypoint`	A position waypoint with a target and optional parameters.
`JointStopMotion`	Stop motion for joint position control mode.
`BaseJointPositionMotion`	Base class for motions.

Joint Velocity Control¶

`JointVelocityMotion`	Joint velocity motion with a single target.
`JointVelocityWaypointMotion`	Joint velocity waypoint motion.
`JointVelocityWaypoint`	A waypoint with a target and optional parameters.
`JointVelocityStopMotion`	Stop motion for joint velocity control mode.
`BaseJointVelocityMotion`	Base class for motions.

Cartesian Position Control¶

`CartesianMotion`	Cartesian motion with a single target.
`CartesianWaypointMotion`	Cartesian waypoint motion.
`CartesianWaypoint`	A position waypoint with a target and optional parameters.
`CartesianStopMotion`	Stop motion for cartesian pose control mode.
`BaseCartesianPoseMotion`	Base class for motions.

Cartesian Velocity Control¶

`CartesianVelocityMotion`	Cartesian velocity motion with a single target velocity.
`CartesianVelocityWaypointMotion`	Cartesian velocity waypoint motion.
`CartesianVelocityWaypoint`	A waypoint with a target and optional parameters.
`CartesianVelocityStopMotion`	Stop motion for cartesian velocity control mode.
`BaseCartesianVelocityMotion`	Base class for motions.

Impedance and Torque Control¶

Client-side impedance controllers running in torque mode. See the Impedance Control chapter of the guide for an introduction.

`BaseTorqueMotion`	Base class for motions.
`ImpedanceMotion`
`JointImpedanceBase`	Base class for client-side joint impedance motions.
`JointImpedanceMotion`	Client-side joint impedance controller.
`JointImpedanceTrackingMotion`	Client-side joint impedance controller with a dynamic online reference.
`JointImpedanceTracker`	A long-lived session for streaming joint impedance tracking commands.
`JointImpedanceGains`	Runtime-adjustable stiffness and damping gains for joint impedance motions.
`JointImpedanceParams`	Parameters for joint impedance motions.
`CartesianImpedanceBase`	Base class for client-side cartesian impedance motions.
`CartesianImpedanceMotion`	Cartesian impedance motion.
`CartesianImpedanceTrackingMotion`	Cartesian impedance tracking motion.
`CartesianImpedanceTracker`	Long-lived session for streaming Cartesian impedance tracking commands.
`CRITICAL`	Sentinel type for `CRITICAL`.
`CartesianImpedanceGains`	Runtime-adjustable stiffness and damping gains for Cartesian impedance motions.
`CartesianImpedanceParams`	Parameters for the impedance motion.
`CartesianImpedanceMotionParams`	Parameters for the Cartesian impedance motion.
`NullspaceGains`	Runtime-adjustable gains for a nullspace task.
`PostureTask`	Joint-posture objective projected into the Cartesian nullspace.
`ManipulabilityTask`	Manipulability maximization objective projected into the Cartesian nullspace.
`FrictionCompensationParams`	Per-joint friction feedforward settings for torque-control motions.
`TorqueSafetyParams`	Shared torque safety limits and soft joint-limit repulsion settings for torque-control motions.
`TorqueStopMotion`	Graceful stop for torque-control (impedance) motions.
`TorqueStopParams`	Parameters for the torque-control stop motion (StopMotion<franka::Torques>).
`SimpleTorqueMotion`	Direct joint torque control with a signal watchdog.
`SimpleTorqueParams`	Parameters for SimpleTorqueMotion.

Reactions¶

Real-time reactions to sensor events. See the Real-Time Reactions chapter of the guide for an introduction.

`Reaction`	A reaction that can be attached to a motion.
`Condition`	A condition on the robot state.
`Measure`	A measure on the robot state.
`TorqueReaction`	A reaction that replaces the current motion with a torque motion.
`JointPositionReaction`	A reaction that replaces the current motion with a joint position motion.
`JointVelocityReaction`	A reaction that replaces the current motion with a joint velocity motion.
`CartesianPoseReaction`	A reaction that replaces the current motion with a Cartesian pose motion.
`CartesianVelocityReaction`	A reaction that replaces the current motion with a Cartesian velocity motion.

Gripper¶

Control of the Franka Hand. See the Gripper chapter of the guide for an introduction.

`Gripper`	A wrapper around the franka::Gripper class that adds asynchronous functionality.
`GripperState`	Describes the gripper state.
`BoolFuture`	A future that will eventually contain a boolean result, e.g. of an asynchronous gripper command.

Desk API¶

Programmatic access to the Franka Desk web interface. See the Desk API chapter of the guide for an introduction.

`Desk`	Robot web session for the current Franka Desk API (v1).
`DeskWebSession`	Desk web session for the legacy Franka Desk API.
`BaseDesk`	Base class for sessions with the Franka Desk web interface.
`PilotButton`	Buttons on the Franka Desk Pilot interface.
`PilotButtonEvent`	A single Pilot button state change.
`BrakeState`	State of the robot's joint brakes.
`OperatingMode`	Operating mode of the robot as reported by Franka Desk.

Exceptions¶

`Exception`	Base class for all exceptions used by libfranka.
`CommandException`	CommandException is thrown if an error occurs during command execution.
`ControlException`	ControlException is thrown if an error occurs during motion generation or torque control.
`GripperException`	Exception thrown by the gripper class.
`IncompatibleVersionException`	IncompatibleVersionException is thrown if the robot does not support this version of libfranka.
`InvalidMotionTypeException`	Exception thrown when an invalid motion type is used.
`InvalidOperationException`	InvalidOperationException is thrown if an operation cannot be performed.
`ModelException`	ModelException is thrown if an error occurs when loading the model library.
`MotionReuseException`	Exception thrown when a motion is started more than once.
`NetworkException`	NetworkException is thrown if a connection to the robot cannot be established, or when a timeout occurs.
`ProtocolException`	ProtocolException is thrown if the robot returns an incorrect message.
`ReactionRecursionException`	Exception thrown when the reaction recursion limit (16) is reached.
`RealtimeException`	RealtimeException is thrown if realtime priority cannot be set.
`TorqueSignalTimeoutException`	Thrown when a SimpleTorqueMotion does not receive a new torque signal in time.
`DeskError`	Base class for errors raised by the Desk classes.
`FrankaAPIError`	Raised when the Franka web API returns an error response.
`TakeControlTimeoutError`	Raised when control over the robot could not be obtained within the timeout.