franky-control 1.0.0__cp38-cp38-manylinux_2_34_x86_64.whl → 1.0.2__cp38-cp38-manylinux_2_34_x86_64.whl

franky/_franky.pyi

@@ -5,7 +5,7 @@ from __future__ import annotations
 import numpy
 import pybind11_stubgen.typing_ext
 import typing
-__all__ = ['Affine', 'BaseCartesianPoseMotion', 'BaseCartesianVelocityMotion', 'BaseJointPositionMotion', 'BaseJointVelocityMotion', 'BaseTorqueMotion', 'BoolFuture', 'CartesianImpedanceMotion', 'CartesianMotion', 'CartesianPose', 'CartesianPoseReaction', 'CartesianState', 'CartesianStopMotion', 'CartesianVelocities', 'CartesianVelocityMotion', 'CartesianVelocityReaction', 'CartesianVelocityStopMotion', 'CartesianVelocityWaypoint', 'CartesianVelocityWaypointMotion', 'CartesianWaypoint', 'CartesianWaypointMotion', 'CommandException', 'Condition', 'ControlException', 'ControlSignalType', 'ControllerMode', 'DoubleDynamicsLimit', 'Duration', 'ElbowState', 'Errors', 'Exception', 'ExponentialImpedanceMotion', 'FlipDirection', 'Frame', 'Gripper', 'GripperException', 'GripperState', 'ImpedanceMotion', 'IncompatibleVersionException', 'InvalidMotionTypeException', 'InvalidOperationException', 'JointMotion', 'JointPositionReaction', 'JointPositions', 'JointState', 'JointStopMotion', 'JointVelocities', 'JointVelocityMotion', 'JointVelocityReaction', 'JointVelocityStopMotion', 'JointVelocityWaypoint', 'JointVelocityWaypointMotion', 'JointWaypoint', 'JointWaypointMotion', 'Measure', 'Model', 'ModelException', 'NetworkException', 'ProtocolException', 'ReactionRecursionException', 'RealtimeConfig', 'RealtimeException', 'ReferenceType', 'RelativeDynamicsFactor', 'RobotInternal', 'RobotMode', 'RobotPose', 'RobotState', 'RobotVelocity', 'TorqueReaction', 'Torques', 'Twist', 'TwistAcceleration', 'VectorDynamicsLimit']
+__all__ = ['Affine', 'BaseCartesianPoseMotion', 'BaseCartesianVelocityMotion', 'BaseJointPositionMotion', 'BaseJointVelocityMotion', 'BaseTorqueMotion', 'BoolFuture', 'CartesianImpedanceMotion', 'CartesianMotion', 'CartesianPose', 'CartesianPoseReaction', 'CartesianState', 'CartesianStopMotion', 'CartesianVelocities', 'CartesianVelocityMotion', 'CartesianVelocityReaction', 'CartesianVelocityStopMotion', 'CartesianVelocityWaypoint', 'CartesianVelocityWaypointMotion', 'CartesianWaypoint', 'CartesianWaypointMotion', 'CommandException', 'Condition', 'ControlException', 'ControlSignalType', 'ControllerMode', 'DoubleDynamicsLimit', 'Duration', 'ElbowState', 'Errors', 'Exception', 'ExponentialImpedanceMotion', 'FlipDirection', 'Frame', 'Gripper', 'GripperException', 'GripperState', 'ImpedanceMotion', 'IncompatibleVersionException', 'InvalidMotionTypeException', 'InvalidOperationException', 'JointMotion', 'JointPositionReaction', 'JointPositions', 'JointState', 'JointStopMotion', 'JointVelocities', 'JointVelocityMotion', 'JointVelocityReaction', 'JointVelocityStopMotion', 'JointVelocityWaypoint', 'JointVelocityWaypointMotion', 'JointWaypoint', 'JointWaypointMotion', 'Measure', 'Model', 'ModelException', 'NetworkException', 'ProtocolException', 'ReactionRecursionException', 'RealtimeConfig', 'RealtimeException', 'ReferenceType', 'RelativeDynamicsFactor', 'RobotMode', 'RobotPose', 'RobotState', 'RobotVelocity', 'TorqueReaction', 'Torques', 'Twist', 'TwistAcceleration', 'VectorDynamicsLimit']
 class Affine:
     @staticmethod
     def _pybind11_conduit_v1_(*args, **kwargs):
@@ -1188,158 +1188,6 @@ class RelativeDynamicsFactor:
     @property
     def velocity(self) -> float:
         ...
-class RobotInternal:
-    control_rate: typing.ClassVar[float] = 0.001
-    degrees_of_freedom: typing.ClassVar[int] = 7
-    relative_dynamics_factor: RelativeDynamicsFactor
-    @staticmethod
-    def _pybind11_conduit_v1_(*args, **kwargs):
-        ...
-    def __init__(self, fci_hostname: str, relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, default_torque_threshold: float = 20.0, default_force_threshold: float = 30.0, controller_mode: ControllerMode = ..., realtime_config: RealtimeConfig = ..., kalman_q_process_var: float = 0.0001, kalman_dq_process_var: float = 0.001, kalman_ddq_process_var: float = 0.1, kalman_control_process_var: float = 1.0, kalman_q_obs_var: float = 0.01, kalman_dq_obs_var: float = 0.1, kalman_q_d_obs_var: float = 0.0001, kalman_dq_d_obs_var: float = 0.0001, kalman_ddq_d_obs_var: float = 0.0001, kalman_control_adaptation_rate: float = 0.1) -> None:
-        ...
-    def join_motion(self, timeout: float | None = None) -> bool:
-        ...
-    @typing.overload
-    def move(self, motion: BaseCartesianPoseMotion, asynchronous: bool = False) -> None:
-        ...
-    @typing.overload
-    def move(self, motion: BaseCartesianVelocityMotion, asynchronous: bool = False) -> None:
-        ...
-    @typing.overload
-    def move(self, motion: BaseJointPositionMotion, asynchronous: bool = False) -> None:
-        ...
-    @typing.overload
-    def move(self, motion: BaseJointVelocityMotion, asynchronous: bool = False) -> None:
-        ...
-    @typing.overload
-    def move(self, motion: BaseTorqueMotion, asynchronous: bool = False) -> None:
-        ...
-    def poll_motion(self) -> bool:
-        ...
-    def recover_from_errors(self) -> bool:
-        ...
-    def set_cartesian_impedance(self, K_x: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)]) -> None:
-        ...
-    @typing.overload
-    def set_collision_behavior(self, torque_thresholds: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], force_thresholds: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]]) -> None:
-        ...
-    @typing.overload
-    def set_collision_behavior(self, lower_torque_threshold: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], upper_torque_threshold: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], lower_force_threshold: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]], upper_force_threshold: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]]) -> None:
-        ...
-    @typing.overload
-    def set_collision_behavior(self, lower_torque_threshold_acceleration: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], upper_torque_threshold_acceleration: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], lower_torque_threshold_nominal: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], upper_torque_threshold_nominal: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], lower_force_threshold_acceleration: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]], upper_force_threshold_acceleration: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]], lower_force_threshold_nominal: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]], upper_force_threshold_nominal: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]]) -> None:
-        ...
-    def set_ee(self, NE_T_EE: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(16)]) -> None:
-        ...
-    def set_guiding_mode(self, guiding_mode: typing.Annotated[list[bool], pybind11_stubgen.typing_ext.FixedSize(6)], elbow: bool) -> None:
-        ...
-    def set_joint_impedance(self, K_theta: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)]) -> None:
-        ...
-    def set_k(self, EE_T_K: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(16)]) -> None:
-        ...
-    def set_load(self, load_mass: float, F_x_Cload: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(3)], load_inertia: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(9)]) -> None:
-        ...
-    def stop(self) -> None:
-        ...
-    @property
-    def current_cartesian_state(self) -> CartesianState:
-        ...
-    @property
-    def current_cartesian_velocity(self) -> RobotVelocity:
-        ...
-    @property
-    def current_control_signal_type(self) -> ControlSignalType | None:
-        ...
-    @property
-    def current_joint_positions(self) -> numpy.ndarray[numpy.float64[7, 1]]:
-        ...
-    @property
-    def current_joint_state(self) -> JointState:
-        ...
-    @property
-    def current_joint_velocities(self) -> numpy.ndarray[numpy.float64[7, 1]]:
-        ...
-    @property
-    def current_pose(self) -> RobotPose:
-        ...
-    @property
-    def elbow_acceleration_limit(self) -> DoubleDynamicsLimit:
-        """
-        [rad/s²]
-        """
-    @property
-    def elbow_jerk_limit(self) -> DoubleDynamicsLimit:
-        """
-        [rad/s³]
-        """
-    @property
-    def elbow_velocity_limit(self) -> DoubleDynamicsLimit:
-        """
-        [rad/s]
-        """
-    @property
-    def fci_hostname(self) -> str:
-        ...
-    @property
-    def has_errors(self) -> bool:
-        ...
-    @property
-    def is_in_control(self) -> bool:
-        ...
-    @property
-    def joint_acceleration_limit(self) -> VectorDynamicsLimit:
-        """
-        [rad/s²]
-        """
-    @property
-    def joint_jerk_limit(self) -> VectorDynamicsLimit:
-        """
-        [rad/s^3]
-        """
-    @property
-    def joint_velocity_limit(self) -> VectorDynamicsLimit:
-        """
-        [rad/s]
-        """
-    @property
-    def model(self) -> Model:
-        ...
-    @property
-    def model_urdf(self) -> str:
-        ...
-    @property
-    def rotation_acceleration_limit(self) -> DoubleDynamicsLimit:
-        """
-        [rad/s²]
-        """
-    @property
-    def rotation_jerk_limit(self) -> DoubleDynamicsLimit:
-        """
-        [rad/s³]
-        """
-    @property
-    def rotation_velocity_limit(self) -> DoubleDynamicsLimit:
-        """
-        [rad/s]
-        """
-    @property
-    def state(self) -> RobotState:
-        ...
-    @property
-    def translation_acceleration_limit(self) -> DoubleDynamicsLimit:
-        """
-        [m/s²]
-        """
-    @property
-    def translation_jerk_limit(self) -> DoubleDynamicsLimit:
-        """
-        [m/s³]
-        """
-    @property
-    def translation_velocity_limit(self) -> DoubleDynamicsLimit:
-        """
-        [m/s]
-        """
 class RobotMode:
     """
     Members:
@@ -1734,3 +1582,155 @@ class VectorDynamicsLimit:
     @property
     def max(self) -> numpy.ndarray[numpy.float64[7, 1]]:
         ...
+class _RobotInternal:
+    control_rate: typing.ClassVar[float] = 0.001
+    degrees_of_freedom: typing.ClassVar[int] = 7
+    relative_dynamics_factor: RelativeDynamicsFactor | float
+    @staticmethod
+    def _pybind11_conduit_v1_(*args, **kwargs):
+        ...
+    def __init__(self, fci_hostname: str, relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, default_torque_threshold: float = 20.0, default_force_threshold: float = 30.0, controller_mode: ControllerMode = ..., realtime_config: RealtimeConfig = ..., kalman_q_process_var: float = 0.0001, kalman_dq_process_var: float = 0.001, kalman_ddq_process_var: float = 0.1, kalman_control_process_var: float = 1.0, kalman_q_obs_var: float = 0.01, kalman_dq_obs_var: float = 0.1, kalman_q_d_obs_var: float = 0.0001, kalman_dq_d_obs_var: float = 0.0001, kalman_ddq_d_obs_var: float = 0.0001, kalman_control_adaptation_rate: float = 0.1) -> None:
+        ...
+    def join_motion(self, timeout: float | None = None) -> bool:
+        ...
+    @typing.overload
+    def move(self, motion: BaseCartesianPoseMotion, asynchronous: bool = False) -> None:
+        ...
+    @typing.overload
+    def move(self, motion: BaseCartesianVelocityMotion, asynchronous: bool = False) -> None:
+        ...
+    @typing.overload
+    def move(self, motion: BaseJointPositionMotion, asynchronous: bool = False) -> None:
+        ...
+    @typing.overload
+    def move(self, motion: BaseJointVelocityMotion, asynchronous: bool = False) -> None:
+        ...
+    @typing.overload
+    def move(self, motion: BaseTorqueMotion, asynchronous: bool = False) -> None:
+        ...
+    def poll_motion(self) -> bool:
+        ...
+    def recover_from_errors(self) -> bool:
+        ...
+    def set_cartesian_impedance(self, K_x: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)]) -> None:
+        ...
+    @typing.overload
+    def set_collision_behavior(self, torque_thresholds: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], force_thresholds: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]]) -> None:
+        ...
+    @typing.overload
+    def set_collision_behavior(self, lower_torque_threshold: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], upper_torque_threshold: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], lower_force_threshold: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]], upper_force_threshold: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]]) -> None:
+        ...
+    @typing.overload
+    def set_collision_behavior(self, lower_torque_threshold_acceleration: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], upper_torque_threshold_acceleration: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], lower_torque_threshold_nominal: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], upper_torque_threshold_nominal: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]], lower_force_threshold_acceleration: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]], upper_force_threshold_acceleration: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]], lower_force_threshold_nominal: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]], upper_force_threshold_nominal: float | typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)] | numpy.ndarray[numpy.float64[6, 1]]) -> None:
+        ...
+    def set_ee(self, NE_T_EE: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(16)]) -> None:
+        ...
+    def set_guiding_mode(self, guiding_mode: typing.Annotated[list[bool], pybind11_stubgen.typing_ext.FixedSize(6)], elbow: bool) -> None:
+        ...
+    def set_joint_impedance(self, K_theta: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)]) -> None:
+        ...
+    def set_k(self, EE_T_K: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(16)]) -> None:
+        ...
+    def set_load(self, load_mass: float, F_x_Cload: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(3)], load_inertia: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(9)]) -> None:
+        ...
+    def stop(self) -> None:
+        ...
+    @property
+    def current_cartesian_state(self) -> CartesianState:
+        ...
+    @property
+    def current_cartesian_velocity(self) -> RobotVelocity:
+        ...
+    @property
+    def current_control_signal_type(self) -> ControlSignalType | None:
+        ...
+    @property
+    def current_joint_positions(self) -> numpy.ndarray[numpy.float64[7, 1]]:
+        ...
+    @property
+    def current_joint_state(self) -> JointState:
+        ...
+    @property
+    def current_joint_velocities(self) -> numpy.ndarray[numpy.float64[7, 1]]:
+        ...
+    @property
+    def current_pose(self) -> RobotPose:
+        ...
+    @property
+    def elbow_acceleration_limit(self) -> DoubleDynamicsLimit:
+        """
+        [rad/s²]
+        """
+    @property
+    def elbow_jerk_limit(self) -> DoubleDynamicsLimit:
+        """
+        [rad/s³]
+        """
+    @property
+    def elbow_velocity_limit(self) -> DoubleDynamicsLimit:
+        """
+        [rad/s]
+        """
+    @property
+    def fci_hostname(self) -> str:
+        ...
+    @property
+    def has_errors(self) -> bool:
+        ...
+    @property
+    def is_in_control(self) -> bool:
+        ...
+    @property
+    def joint_acceleration_limit(self) -> VectorDynamicsLimit:
+        """
+        [rad/s²]
+        """
+    @property
+    def joint_jerk_limit(self) -> VectorDynamicsLimit:
+        """
+        [rad/s^3]
+        """
+    @property
+    def joint_velocity_limit(self) -> VectorDynamicsLimit:
+        """
+        [rad/s]
+        """
+    @property
+    def model(self) -> Model:
+        ...
+    @property
+    def model_urdf(self) -> str:
+        ...
+    @property
+    def rotation_acceleration_limit(self) -> DoubleDynamicsLimit:
+        """
+        [rad/s²]
+        """
+    @property
+    def rotation_jerk_limit(self) -> DoubleDynamicsLimit:
+        """
+        [rad/s³]
+        """
+    @property
+    def rotation_velocity_limit(self) -> DoubleDynamicsLimit:
+        """
+        [rad/s]
+        """
+    @property
+    def state(self) -> RobotState:
+        ...
+    @property
+    def translation_acceleration_limit(self) -> DoubleDynamicsLimit:
+        """
+        [m/s²]
+        """
+    @property
+    def translation_jerk_limit(self) -> DoubleDynamicsLimit:
+        """
+        [m/s³]
+        """
+    @property
+    def translation_velocity_limit(self) -> DoubleDynamicsLimit:
+        """
+        [m/s]
+        """

franky/robot.py

@@ -1,8 +1,8 @@
-from ._franky import RobotInternal
+from ._franky import _RobotInternal
 
 from .robot_web_session import RobotWebSession
 
 
-class Robot(RobotInternal):
+class Robot(_RobotInternal):
     def create_web_session(self, username: str, password: str):
         return RobotWebSession(self, username, password)

{franky_control-1.0.0.dist-info → franky_control-1.0.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: franky-control
-Version: 1.0.0
+Version: 1.0.2
 Summary: High-level control library for Franka robots.
 Home-page: https://github.com/TimSchneider42/franky
 Author: Tim Schneider
@@ -46,16 +46,16 @@ Requires-Dist: numpy
 
 Franky is a high-level control library for Franka robots offering Python and C++ support.
 By providing a high-level control interface, Franky eliminates the need for strict real-time programming at 1 kHz,
-making control from non-real time environments, such as Python programs, feasible.
+making control from non-real-time environments, such as Python programs, feasible.
 Instead of relying on low-level control commands, Franky expects high-level position or velocity targets and
-uses [Ruckig](https://github.com/pantor/ruckig) to plan time-optimal trajectories in real time.
+uses [Ruckig](https://github.com/pantor/ruckig) to plan time-optimal trajectories in real-time.
 
 Although Python does not provide real-time guarantees, Franky strives to maintain as much real-time control as possible.
 Motions can be preempted at any moment, prompting Franky to re-plan trajectories on the fly.
-To handle unforeseen situations—such as unexpected contact with the environment—Franky includes a reaction system that
-allows to dynamically update motion commands.
-Furthermore, most non-real time functionality of [libfranka](https://frankaemika.github.io/docs/libfranka.html), such as
-Gripper control, is made directly available in Python.
+To handle unforeseen situations—such as unexpected contact with the environment — Franky includes a reaction system that
+allows to update motion commands dynamically.
+Furthermore, most non-real-time functionality of [libfranka](https://frankaemika.github.io/docs/libfranka.html), such as
+Gripper control is made directly available in Python.
 
 Check out the [tutorial](#-tutorial) and the [examples](https://github.com/TimSchneider42/franky/tree/master/examples)
 for an introduction.
@@ -67,41 +67,67 @@ at [https://timschneider42.github.io/franky/](https://timschneider42.github.io/f
 - **Control your Franka robot directly from Python in just a few lines!**  
   No more endless hours setting up ROS, juggling packages, or untangling dependencies. Just `pip install` — no ROS at all.
 
-- **[Four control modes](#-motion-types)**:
-  - [Cartesian position](#cartesian-position-control)
-  - [Cartesian velocity](#cartesian-velocity-control)
-  - [Joint position](#joint-position-control)
-  - [Joint velocity](#joint-velocity-control)  
-  
+- **[Four control modes](#motion-types)**: [Cartesian position](#cartesian-position-control), [Cartesian velocity](#cartesian-velocity-control), [Joint position](#joint-position-control), [Joint velocity](#joint-velocity-control)  
   Franky uses [Ruckig](https://github.com/pantor/ruckig) to generate smooth, time-optimal trajectories while respecting velocity, acceleration, and jerk limits.
 
-- **[Real-time control from Python and C++](#-real-time-motions)**:  
-  Need to change the target while the robot’s moving? No problem. Franky re-plans trajectories on the fly, so you can preempt motions anytime.
+- **[Real-time control from Python and C++](#real-time-motions)**
+  Need to change the target while the robot’s moving? No problem. Franky re-plans trajectories on the fly so that you can preempt motions anytime.
 
-- **[Reactive behavior](#-real-time-reactions)**:  
-  Robots don’t always go according to plan. Franky lets you define reactions to unexpected events—like contact with the environment — so you can change course in real time.
+- **[Reactive behavior](#-real-time-reactions)**  
+  Robots don’t always go according to plan. Franky lets you define reactions to unexpected events—like contact with the environment — so you can change course in real-time.
 
-- **[Motion and reaction callbacks](#motion-callbacks)**:  
+- **[Motion and reaction callbacks](#motion-callbacks)**  
   Want to monitor what’s happening under the hood? Add callbacks to your motions and reactions. They won’t block the control thread and are super handy for debugging or logging.
 
-- **Things are moving too fast? [Tune the robot's dynamics to your needs](#-robot)**:  
+- **Things are moving too fast? [Tune the robot's dynamics to your needs](#-robot)**  
   Adjust max velocity, acceleration, and jerk to match your setup or task. Fine control for smooth, safe operation.
 
-- **Full Python access to the libfranka API**:  
-  Want to tweak impedance, read the robot state, set force thresholds, or mess with the Jacobian? Go for it. If libfranka supports it, chances are Franky does too.
+- **Full Python access to the libfranka API**  
+  Want to tweak impedance, read the robot state, set force thresholds, or mess with the Jacobian? Go for it. If libfranka supports it, chances are Franky does, too.
 
+## 📖 Python Quickstart Guide
 
-## ⚙️ Setup
+Real-time kernel already installed and real-time permissions granted? Just install Franky via
 
-To install franky, you have to follow three steps:
+```bash
+pip install franky-control
+```
+
+otherwise, follow the [setup instructions](#setup) first.
+
+Now we are already ready to go!
+Unlock the brakes in the web interface, activate FCI, and start coding:
+```python
+from franky import *
+
+robot = Robot("172.16.0.2")  # Replace this with your robot's IP
+
+# Let's start slow (this lets the robot use a maximum of 5% of its velocity, acceleration, and jerk limits)
+robot.relative_dynamics_factor = 0.05
+
+# Move the robot 20cm along the relative X-axis of its end-effector
+motion = CartesianMotion(Affine([0.2, 0.0, 0.0]), ReferenceType.Relative)
+robot.move(motion)
+```
+
+If you are seeing server version mismatch errors, such as
+```
+franky.IncompatibleVersionException: libfranka: Incompatible library version (server version: 5, library version: 9)
+```
+then your Franka robot is either not on the most recent firmware version or you are using the older Franka Panda model.
+In any case, it's no big deal; just check [here](https://frankaemika.github.io/docs/compatibility.html) which libfranka version you need and follow our [instructions](installing-frankly) to install the appropriate Franky wheels.
+
+## <a id="setup" /> ⚙️ Setup
+
+To install Franky, you have to follow three steps:
 
 1. Ensure that you are using a realtime kernel
 2. Ensure that the executing user has permission to run real-time applications
-3. Install franky via pip or build it from source
+3. Install Franky via pip or build it from source
 
 ### Installing a real-time kernel
 
-In order for franky to function properly, it requires the underlying OS to use a realtime kernel.
+In order for Franky to function properly, it requires the underlying OS to use a realtime kernel.
 Otherwise, you might see `communication_constrains_violation` errors.
 
 To check whether your system is currently using a real-time kernel, type `uname -a`.
@@ -121,7 +147,7 @@ or, if you are using Ubuntu, it can be [enabled through Ubuntu Pro](https://ubun
 
 ### Allowing the executing user to run real-time applications
 
-First, create a group `realtime` and add your user (or whoever is running franky) to this group:
+First, create a group `realtime` and add your user (or whoever is running Franky) to this group:
 
 ```bash
 sudo addgroup realtime
@@ -150,9 +176,9 @@ $ groups
 
 If realtime is not listed in your groups, try rebooting.
 
-### Installing franky
+### Installing Franky
 
-To start using franky with Python and libfranka *0.15.0*, just install it via
+To start using Franky with Python and libfranka *0.15.0*, just install it via
 
 ```bash
 pip install franky-control
@@ -173,10 +199,10 @@ pip install --no-index --find-links=./dist franky-control
 Franky is based on [libfranka](https://github.com/frankaemika/libfranka), [Eigen](https://eigen.tuxfamily.org) for
 transformation calculations and [pybind11](https://github.com/pybind/pybind11) for the Python bindings.
 As the Franka is sensitive to acceleration discontinuities, it requires jerk-constrained motion generation, for which
-franky uses the [Ruckig](https://ruckig.com) community version for Online Trajectory Generation (OTG).
+Franky uses the [Ruckig](https://ruckig.com) community version for Online Trajectory Generation (OTG).
 
 After installing the dependencies (the exact versions can be found [here](#-development)), you can build and install
-franky via
+Franky via
 
 ```bash
 git clone --recurse-submodules git@github.com:timschneider42/franky.git
@@ -188,10 +214,10 @@ make
 make install
 ```
 
-To use franky, you can also include it as a subproject in your parent CMake via `add_subdirectory(franky)` and then
+To use Franky, you can also include it as a subproject in your parent CMake via `add_subdirectory(franky)` and then
 `target_link_libraries(<target> franky)`.
 
-If you need only the Python module, you can install franky via
+If you need only the Python module, you can install Franky via
 
 ```bash
 pip install .
@@ -202,11 +228,11 @@ Make sure that the built library `_franky.cpython-3**-****-linux-gnu.so` is in t
 
 #### Using Docker
 
-To use franky within Docker we provide a [Dockerfile](docker/run/Dockerfile) and
+To use Franky within Docker we provide a [Dockerfile](docker/run/Dockerfile) and
 accompanying [docker-compose](docker-compose.yml) file.
 
 ```bash
-git clone https://github.com/timschneider42/franky.git
+git clone --recurse-submodules https://github.com/timschneider42/franky.git
 cd franky/
 docker compose build franky-run
 ```
@@ -226,9 +252,9 @@ docker compose run franky-run bash
 The container requires access to the host machines network *and* elevated user rights to allow the docker user to set RT
 capabilities of the processes run from within it.
 
-#### Building franky with Docker
+#### Building Franky with Docker
 
-For building franky and its wheels, we provide another Docker container that can also be launched using docker-compose:
+For building Franky and its wheels, we provide another Docker container that can also be launched using docker-compose:
 
 ```bash
 docker compose build franky-build
@@ -337,7 +363,7 @@ print(robot.joint_jerk_limit.max)
 
 #### Robot State
 
-The robot state can be retrieved by calling the following methods:
+The robot state can be retrieved by accessing the following properties:
 
 * `state`: Object of type `franky.RobotState`, which extends the
   libfranka [franka::RobotState](https://frankaemika.github.io/libfranka/structfranka_1_1RobotState.html) structure by
@@ -363,7 +389,7 @@ state = robot.state
 cartesian_state = robot.current_cartesian_state
 robot_pose = cartesian_state.pose  # Contains end-effector pose and elbow position
 ee_pose = robot_pose.end_effector_pose
-elbow_pos = robot_pose.elbow_position
+elbow_pos = robot_pose.elbow_state
 robot_velocity = cartesian_state.velocity  # Contains end-effector twist and elbow velocity
 ee_twist = robot_velocity.end_effector_twist
 elbow_vel = robot_velocity.elbow_velocity
@@ -390,7 +416,7 @@ For a full list of state-related features, check
 the [Robot](https://timschneider42.github.io/franky/classfranky_1_1_robot.html)
 and [Model](https://timschneider42.github.io/franky/classfranky_1_1_model.html) sections of the documentation.
 
-### 🏃‍♂️ Motion Types
+### <a id="motion-types" /> 🏃‍♂️ Motion Types
 
 Franky currently supports four different impedance control modes: **joint position control**, **joint velocity control
 **, **cartesian position control**, and **cartesian velocity control**.
@@ -688,7 +714,7 @@ motion
 robot.move(motion)
 ```
 
-### ⏱️ Real-Time Motions
+###  <a id="real-time-motions" /> ⏱️ Real-Time Motions
 
 By setting the `asynchronous` parameter of `Robot.move` to `True`, the function does not block until the motion
 finishes.
@@ -806,6 +832,7 @@ Franky is currently tested against following versions
 - libfranka 0.7.1, 0.8.0, 0.9.2, 0.10.0, 0.11.0, 0.12.1, 0.13.3, 0.14.2, 0.15.0
 - Eigen 3.4.0
 - Pybind11 2.13.6
+- POCO 1.12.5p2
 - Pinocchio 3.4.0
 - Python 3.7, 3.8, 3.9, 3.10, 3.11, 3.12, 3.13
 - Catch2 2.13.8 (for testing only)
@@ -813,7 +840,7 @@ Franky is currently tested against following versions
 ## 📜 License
 
 For non-commercial applications, this software is licensed under the LGPL v3.0.
-If you want to use franky within commercial applications or under a different license, please contact us for individual
+If you want to use Franky within commercial applications or under a different license, please contact us for individual
 agreements.
 
 ## 🔍 Differences to frankx

franky_control-1.0.2.dist-info/RECORD

@@ -0,0 +1,26 @@
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+franky/robot_web_session.py,sha256=zOTAqDF4PbZLqJFr3RcuBwfWRSEMiw0Eag1stk3GWKE,7622
+franky_control.libs/libPocoFoundation-44c2a91d.so.95,sha256=kMB_IJ_gYGE1jprdF_RIVEbhg9gQH3IimwBUksadJNc,3265609
+franky_control.libs/libPocoNet-2f9ce4bf.so.95,sha256=wwgasubJUNFpW5brGQoUiyCEx6NgPQSG2Vjgk66OQ0s,2482737
+franky_control.libs/libboost_filesystem-42b111b5.so.1.75.0,sha256=8tanNbQ7I455iTdjcNXuKf8snHpXq6N7SVvnX5H-_bY,139961
+franky_control.libs/libboost_serialization-0b785d4d.so.1.75.0,sha256=sOHF1ncSl_Hg4oBqbyEuQCYAE9IaREqfm-dspP-O5mw,319177
+franky_control.libs/libconsole_bridge-acce180d.so.1.0,sha256=-iSKX9xNyLCSSrducf7rDx6hXzdU5v7xQqZDulppIP8,22769
+franky_control.libs/libfmt-677b7a5c.so.8.1.1,sha256=rN3uzEn_limS_u6DV-BxdTEbs2GrhlicD_OjyAlKYpA,140649
+franky_control.libs/libfranka-976dfd01.so.0.15.0,sha256=q6EJaLfNrYHNcwJvov9s2sM18ahCZ2LgKZwZTbvDbok,973497
+franky_control.libs/libpinocchio_default-b05a4796.so.3.1.0,sha256=NFyO0kOaOcpnFYVAehcgJj5spee4weJ_PqPZ5uUqpEg,9668545
+franky_control.libs/libpinocchio_parsers-74bdc3cc.so.3.1.0,sha256=4yyz3Gw4SoyFEtvfx546_UMpH3GN9SjVWsWH28eCVSs,707441
+franky_control.libs/libtinyxml-69e5f0dd.so.0.2.6.2,sha256=V45jOzaljaUrtOAYBS20QBFHn0qPFHTEcWxdcOBoJNA,118121
+franky_control.libs/liburdfdom_model-9ec0392f.so.1.0,sha256=Kwlq8DuENLdEX5URKcwUC06sl9rxUYoRjGx3EI-uRiY,146081
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+franky_control-1.0.2.dist-info/LICENSE,sha256=6or154nLLU6bELzjh0mCreFjt0m2v72zLi3yHE0QbeE,7650
+franky_control-1.0.2.dist-info/METADATA,sha256=8w7ITX99ftSyZ4TTdgcZ8fxgYC0_UsNfzcbgatWPK-4,34881
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+franky_control-1.0.2.dist-info/top_level.txt,sha256=LdDKRvHTODs6ll6Ow5b-gmWqt4NJffHxL83MRTCv_Ag,22
+franky_control-1.0.2.dist-info/RECORD,,

franky_control-1.0.0.dist-info/RECORD

@@ -1,28 +0,0 @@
-franky/__init__.py,sha256=lmRG8cc4eX-0gZgCkxxVCOrmuUEGJsppWl7DDURib-Y,293
-franky/_franky.cpython-38-x86_64-linux-gnu.so,sha256=EiVyH3s1K0kAOy3AI9MlrCSR9fjv_guW4oudx7v-svQ,3058753
-franky/_franky.pyi,sha256=jp1xC8uvF4A6GBC-8B5JlWfp-N7mdm3OYsCYFWRTnek,60055
-franky/motion.py,sha256=EZmZPvu2r4YBhcokV1PFh8s8NmiwOUERvct3Zz629C8,334
-franky/reaction.py,sha256=gDD7kVc_7Et2NwMmCB4Hcd12aK0eygJVqXzZ9Dzw0_M,1488
-franky/robot.py,sha256=GCWQOnhQIv3DhOo5FsHHgsFeNIZX8IQgeJ09VV84DLE,234
-franky/robot_web_session.py,sha256=zOTAqDF4PbZLqJFr3RcuBwfWRSEMiw0Eag1stk3GWKE,7622
-franky_control.libs/libPocoFoundationd-74964157.so.92,sha256=BHLfMLcmdIPPcSI8dAkqtFlclnh_y2BtbFNKyF-p3EA,2420809
-franky_control.libs/libPocoNetd-5dd54f10.so.92,sha256=OFNDrRm1dpHiAzz5VZppU2O9TU0lkQj_GOMiPKQ0UWo,1907953
-franky_control.libs/libboost_atomic-64eba867.so.1.78.0,sha256=CVPFDX4hj4v1t5SuvprkQP6OLyeNY8JwZcxpAVi0kzI,18161
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-franky_control.libs/libfranka-fb54b5c1.so.0.15.0,sha256=eiTTbOOF0NaYmy96v0i0y9e5zQqJ5nW9j2_z1-rd3uI,973625
-franky_control.libs/libpcre2-8-b77f698a.so.0.11.0,sha256=hQ2wPgk-6gm4ZYWGy6wPDCt46HtNTpYIRBUyH9Fq-9U,642033
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-franky_control.libs/liburdfdom_model_state-01125232.so.1.0,sha256=LNMEG27nv_6BYvelpjXjr0YsBl-6IsGQfg3uG0DvTQQ,20857
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-franky_control.libs/liburdfdom_world-4d53bc81.so.1.0,sha256=IziPhPYdFfZTgKDOnUMGLYSCsZRxYfC1rEKWjvzrpb4,146081
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