franky-control 1.0.0__cp39-cp39-manylinux_2_34_x86_64.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- franky/__init__.py +12 -0
- franky/_franky.cpython-39-x86_64-linux-gnu.so +0 -0
- franky/_franky.pyi +1736 -0
- franky/motion.py +12 -0
- franky/reaction.py +43 -0
- franky/robot.py +8 -0
- franky/robot_web_session.py +183 -0
- franky_control-1.0.0.dist-info/METADATA +854 -0
- franky_control-1.0.0.dist-info/RECORD +28 -0
- franky_control-1.0.0.dist-info/WHEEL +5 -0
- franky_control-1.0.0.dist-info/licenses/LICENSE +165 -0
- franky_control-1.0.0.dist-info/top_level.txt +2 -0
- franky_control.libs/libPocoFoundationd-74964157.so.92 +0 -0
- franky_control.libs/libPocoNetd-5dd54f10.so.92 +0 -0
- franky_control.libs/libboost_atomic-64eba867.so.1.78.0 +0 -0
- franky_control.libs/libboost_filesystem-63963750.so.1.78.0 +0 -0
- franky_control.libs/libboost_serialization-75ebc722.so.1.78.0 +0 -0
- franky_control.libs/libconsole_bridge-acce180d.so.1.0 +0 -0
- franky_control.libs/libfmt-677b7a5c.so.8.1.1 +0 -0
- franky_control.libs/libfranka-fb54b5c1.so.0.15.0 +0 -0
- franky_control.libs/libpcre2-8-b77f698a.so.0.11.0 +0 -0
- franky_control.libs/libpinocchio_default-eb97a09e.so.3.4.0 +0 -0
- franky_control.libs/libpinocchio_parsers-9f152785.so.3.4.0 +0 -0
- franky_control.libs/libtinyxml-69e5f0dd.so.0.2.6.2 +0 -0
- franky_control.libs/liburdfdom_model-9ec0392f.so.1.0 +0 -0
- franky_control.libs/liburdfdom_model_state-01125232.so.1.0 +0 -0
- franky_control.libs/liburdfdom_sensor-011819fa.so.1.0 +0 -0
- franky_control.libs/liburdfdom_world-4d53bc81.so.1.0 +0 -0
franky/_franky.pyi
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"""
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High-Level Control Library for Franka Robots
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"""
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from __future__ import annotations
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import numpy
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import pybind11_stubgen.typing_ext
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import typing
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__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']
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class Affine:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def __getstate__(self) -> tuple:
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...
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@typing.overload
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def __init__(self, transformation_matrix: numpy.ndarray[numpy.float64[4, 4]] = ...) -> None:
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...
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@typing.overload
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def __init__(self, translation: numpy.ndarray[numpy.float64[3, 1]] = ..., quaternion: numpy.ndarray[numpy.float64[4, 1]] = ...) -> None:
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...
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@typing.overload
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def __init__(self, arg0: Affine) -> None:
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...
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def __mul__(self, arg0: Affine) -> Affine:
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...
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def __repr__(self) -> str:
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...
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def __setstate__(self, arg0: tuple) -> None:
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...
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@property
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def inverse(self) -> Affine:
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...
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@property
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def matrix(self) -> numpy.ndarray[numpy.float64[4, 4]]:
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...
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@property
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def quaternion(self) -> numpy.ndarray[numpy.float64[4, 1]]:
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...
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@property
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def translation(self) -> numpy.ndarray[numpy.float64[3, 1]]:
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...
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class BaseCartesianPoseMotion:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def add_reaction(self, arg0: CartesianPoseReaction) -> None:
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...
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def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration, _franky.Duration, _franky.CartesianPose], None]) -> None:
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...
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@property
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def reactions(self) -> list[CartesianPoseReaction]:
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...
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class BaseCartesianVelocityMotion:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def add_reaction(self, arg0: CartesianVelocityReaction) -> None:
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def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration, _franky.Duration, _franky.CartesianVelocities], None]) -> None:
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...
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@property
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def reactions(self) -> list[CartesianVelocityReaction]:
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...
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class BaseJointPositionMotion:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def add_reaction(self, arg0: JointPositionReaction) -> None:
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def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration, _franky.Duration, _franky.JointPositions], None]) -> None:
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...
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@property
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def reactions(self) -> list[JointPositionReaction]:
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...
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class BaseJointVelocityMotion:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def add_reaction(self, arg0: JointVelocityReaction) -> None:
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def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration, _franky.Duration, _franky.JointVelocities], None]) -> None:
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@property
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def reactions(self) -> list[JointVelocityReaction]:
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...
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class BaseTorqueMotion:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def add_reaction(self, arg0: TorqueReaction) -> None:
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def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration, _franky.Duration, _franky.Torques], None]) -> None:
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...
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@property
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def reactions(self) -> list[TorqueReaction]:
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class BoolFuture:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def get(self) -> bool:
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def wait(self, timeout: float | None = None) -> bool:
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class CartesianImpedanceMotion(ImpedanceMotion):
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def __init__(self, target: Affine, duration: Duration, target_type: ReferenceType = ..., translational_stiffness: float = 2000, rotational_stiffness: float = 200, force_constraints: typing.Annotated[list[float | None], pybind11_stubgen.typing_ext.FixedSize(6)] | None = None, return_when_finished: bool = True, finish_wait_factor: float = 1.2) -> None:
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...
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class CartesianMotion(CartesianWaypointMotion):
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def __init__(self, target: CartesianState | RobotPose | Affine, reference_type: ReferenceType = ..., relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, return_when_finished: bool = True, ee_frame: Affine | None = None) -> None:
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...
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class CartesianPose:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def __getstate__(self) -> tuple:
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def __setstate__(self, arg0: tuple) -> None:
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@property
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def O_T_EE(self) -> typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(16)]:
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class CartesianPoseReaction:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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def __init__(self, condition: Condition | bool, motion: BaseCartesianPoseMotion = None) -> None:
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def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration], None]) -> None:
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class CartesianState:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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def __getstate__(self) -> tuple:
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@typing.overload
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def __init__(self, pose: RobotPose | Affine) -> None:
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@typing.overload
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def __init__(self, pose: RobotPose | Affine, velocity: RobotVelocity | Twist) -> None:
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...
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@typing.overload
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def __init__(self, arg0: CartesianState | RobotPose | Affine) -> None:
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def __repr__(self) -> str:
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def __rmul__(self, arg0: Affine) -> CartesianState:
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def __setstate__(self, arg0: tuple) -> None:
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def change_end_effector_frame(self, transform: Affine) -> CartesianState:
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def transform_with(self, transform: Affine) -> CartesianState:
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@property
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def pose(self) -> RobotPose:
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@property
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def velocity(self) -> RobotVelocity:
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class CartesianStopMotion(BaseCartesianPoseMotion):
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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def __init__(self, relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0) -> None:
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class CartesianVelocities:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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...
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def __getstate__(self) -> tuple:
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def __setstate__(self, arg0: tuple) -> None:
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@property
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def O_dP_EE(self) -> typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)]:
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@property
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def elbow(self) -> typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(2)]:
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class CartesianVelocityMotion(CartesianVelocityWaypointMotion):
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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def __init__(self, target: RobotVelocity | Twist, duration: Duration = ..., relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, ee_frame: Affine | None = None) -> None:
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class CartesianVelocityReaction:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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def __init__(self, condition: Condition | bool, motion: BaseCartesianVelocityMotion = None) -> None:
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def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration], None]) -> None:
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class CartesianVelocityStopMotion(BaseCartesianVelocityMotion):
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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def __init__(self, relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0) -> None:
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class CartesianVelocityWaypoint:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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def __init__(self, target: RobotVelocity | Twist, relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, minimum_time: Duration | None = None, hold_target_duration: Duration = ..., max_total_duration: Duration | None = None) -> None:
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@property
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def hold_target_duration(self) -> Duration:
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@property
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def max_total_duration(self) -> Duration | None:
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@property
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def minimum_time(self) -> Duration | None:
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@property
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def relative_dynamics_factor(self) -> RelativeDynamicsFactor:
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@property
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def target(self) -> RobotVelocity:
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class CartesianVelocityWaypointMotion(BaseCartesianVelocityMotion):
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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def __init__(self, waypoints: list[CartesianVelocityWaypoint], ee_frame: Affine | None = None, relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0) -> None:
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class CartesianWaypoint:
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@staticmethod
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def _pybind11_conduit_v1_(*args, **kwargs):
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def __init__(self, target: CartesianState | RobotPose | Affine, reference_type: ReferenceType = ..., relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, minimum_time: Duration | None = None, hold_target_duration: Duration = ..., max_total_duration: Duration | None = None) -> None:
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@property
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def hold_target_duration(self) -> Duration:
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@property
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def max_total_duration(self) -> Duration | None:
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@property
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def minimum_time(self) -> Duration | None:
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@property
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def reference_type(self) -> ReferenceType:
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@property
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def relative_dynamics_factor(self) -> RelativeDynamicsFactor:
|
|
254
|
+
...
|
|
255
|
+
@property
|
|
256
|
+
def target(self) -> CartesianState:
|
|
257
|
+
...
|
|
258
|
+
class CartesianWaypointMotion(BaseCartesianPoseMotion):
|
|
259
|
+
@staticmethod
|
|
260
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
261
|
+
...
|
|
262
|
+
def __init__(self, waypoints: list[CartesianWaypoint], ee_frame: Affine | None = None, relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, return_when_finished: bool = True) -> None:
|
|
263
|
+
...
|
|
264
|
+
class CommandException(Exception):
|
|
265
|
+
pass
|
|
266
|
+
class Condition:
|
|
267
|
+
__hash__: typing.ClassVar[None] = None
|
|
268
|
+
@staticmethod
|
|
269
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
270
|
+
...
|
|
271
|
+
@typing.overload
|
|
272
|
+
def __and__(self, arg0: Condition | bool) -> Condition:
|
|
273
|
+
...
|
|
274
|
+
@typing.overload
|
|
275
|
+
def __and__(self, arg0: bool) -> Condition:
|
|
276
|
+
...
|
|
277
|
+
@typing.overload
|
|
278
|
+
def __eq__(self, arg0: Condition | bool) -> Condition:
|
|
279
|
+
...
|
|
280
|
+
@typing.overload
|
|
281
|
+
def __eq__(self, arg0: bool) -> Condition:
|
|
282
|
+
...
|
|
283
|
+
def __init__(self, constant_value: bool) -> None:
|
|
284
|
+
...
|
|
285
|
+
def __invert__(self) -> Condition:
|
|
286
|
+
...
|
|
287
|
+
@typing.overload
|
|
288
|
+
def __ne__(self, arg0: Condition | bool) -> Condition:
|
|
289
|
+
...
|
|
290
|
+
@typing.overload
|
|
291
|
+
def __ne__(self, arg0: bool) -> Condition:
|
|
292
|
+
...
|
|
293
|
+
@typing.overload
|
|
294
|
+
def __or__(self, arg0: Condition | bool) -> Condition:
|
|
295
|
+
...
|
|
296
|
+
@typing.overload
|
|
297
|
+
def __or__(self, arg0: bool) -> Condition:
|
|
298
|
+
...
|
|
299
|
+
def __rand__(self, arg0: Condition | bool) -> Condition:
|
|
300
|
+
...
|
|
301
|
+
def __repr__(self) -> str:
|
|
302
|
+
...
|
|
303
|
+
def __ror__(self, arg0: Condition | bool) -> Condition:
|
|
304
|
+
...
|
|
305
|
+
class ControlException(Exception):
|
|
306
|
+
pass
|
|
307
|
+
class ControlSignalType:
|
|
308
|
+
"""
|
|
309
|
+
Members:
|
|
310
|
+
|
|
311
|
+
Torques
|
|
312
|
+
|
|
313
|
+
JointVelocities
|
|
314
|
+
|
|
315
|
+
JointPositions
|
|
316
|
+
|
|
317
|
+
CartesianVelocities
|
|
318
|
+
|
|
319
|
+
CartesianPose
|
|
320
|
+
"""
|
|
321
|
+
CartesianPose: typing.ClassVar[ControlSignalType] # value = <ControlSignalType.CartesianPose: 4>
|
|
322
|
+
CartesianVelocities: typing.ClassVar[ControlSignalType] # value = <ControlSignalType.CartesianVelocities: 3>
|
|
323
|
+
JointPositions: typing.ClassVar[ControlSignalType] # value = <ControlSignalType.JointPositions: 2>
|
|
324
|
+
JointVelocities: typing.ClassVar[ControlSignalType] # value = <ControlSignalType.JointVelocities: 1>
|
|
325
|
+
Torques: typing.ClassVar[ControlSignalType] # value = <ControlSignalType.Torques: 0>
|
|
326
|
+
__members__: typing.ClassVar[dict[str, ControlSignalType]] # value = {'Torques': <ControlSignalType.Torques: 0>, 'JointVelocities': <ControlSignalType.JointVelocities: 1>, 'JointPositions': <ControlSignalType.JointPositions: 2>, 'CartesianVelocities': <ControlSignalType.CartesianVelocities: 3>, 'CartesianPose': <ControlSignalType.CartesianPose: 4>}
|
|
327
|
+
@staticmethod
|
|
328
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
329
|
+
...
|
|
330
|
+
def __eq__(self, other: typing.Any) -> bool:
|
|
331
|
+
...
|
|
332
|
+
def __getstate__(self) -> int:
|
|
333
|
+
...
|
|
334
|
+
def __hash__(self) -> int:
|
|
335
|
+
...
|
|
336
|
+
def __index__(self) -> int:
|
|
337
|
+
...
|
|
338
|
+
def __init__(self, value: int) -> None:
|
|
339
|
+
...
|
|
340
|
+
def __int__(self) -> int:
|
|
341
|
+
...
|
|
342
|
+
def __ne__(self, other: typing.Any) -> bool:
|
|
343
|
+
...
|
|
344
|
+
def __repr__(self) -> str:
|
|
345
|
+
...
|
|
346
|
+
def __setstate__(self, state: int) -> None:
|
|
347
|
+
...
|
|
348
|
+
def __str__(self) -> str:
|
|
349
|
+
...
|
|
350
|
+
@property
|
|
351
|
+
def name(self) -> str:
|
|
352
|
+
...
|
|
353
|
+
@property
|
|
354
|
+
def value(self) -> int:
|
|
355
|
+
...
|
|
356
|
+
class ControllerMode:
|
|
357
|
+
"""
|
|
358
|
+
Members:
|
|
359
|
+
|
|
360
|
+
JointImpedance
|
|
361
|
+
|
|
362
|
+
CartesianImpedance
|
|
363
|
+
"""
|
|
364
|
+
CartesianImpedance: typing.ClassVar[ControllerMode] # value = <ControllerMode.CartesianImpedance: 1>
|
|
365
|
+
JointImpedance: typing.ClassVar[ControllerMode] # value = <ControllerMode.JointImpedance: 0>
|
|
366
|
+
__members__: typing.ClassVar[dict[str, ControllerMode]] # value = {'JointImpedance': <ControllerMode.JointImpedance: 0>, 'CartesianImpedance': <ControllerMode.CartesianImpedance: 1>}
|
|
367
|
+
@staticmethod
|
|
368
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
369
|
+
...
|
|
370
|
+
def __eq__(self, other: typing.Any) -> bool:
|
|
371
|
+
...
|
|
372
|
+
def __getstate__(self) -> int:
|
|
373
|
+
...
|
|
374
|
+
def __hash__(self) -> int:
|
|
375
|
+
...
|
|
376
|
+
def __index__(self) -> int:
|
|
377
|
+
...
|
|
378
|
+
def __init__(self, value: int) -> None:
|
|
379
|
+
...
|
|
380
|
+
def __int__(self) -> int:
|
|
381
|
+
...
|
|
382
|
+
def __ne__(self, other: typing.Any) -> bool:
|
|
383
|
+
...
|
|
384
|
+
def __repr__(self) -> str:
|
|
385
|
+
...
|
|
386
|
+
def __setstate__(self, state: int) -> None:
|
|
387
|
+
...
|
|
388
|
+
def __str__(self) -> str:
|
|
389
|
+
...
|
|
390
|
+
@property
|
|
391
|
+
def name(self) -> str:
|
|
392
|
+
...
|
|
393
|
+
@property
|
|
394
|
+
def value(self) -> int:
|
|
395
|
+
...
|
|
396
|
+
class DoubleDynamicsLimit:
|
|
397
|
+
@staticmethod
|
|
398
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
399
|
+
...
|
|
400
|
+
def __repr__(self) -> str:
|
|
401
|
+
...
|
|
402
|
+
def get(self) -> float:
|
|
403
|
+
...
|
|
404
|
+
def set(self, value: float) -> None:
|
|
405
|
+
...
|
|
406
|
+
@property
|
|
407
|
+
def desc(self) -> str:
|
|
408
|
+
...
|
|
409
|
+
@property
|
|
410
|
+
def max(self) -> float:
|
|
411
|
+
...
|
|
412
|
+
class Duration:
|
|
413
|
+
@staticmethod
|
|
414
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
415
|
+
...
|
|
416
|
+
def __add__(self, arg0: Duration) -> Duration:
|
|
417
|
+
...
|
|
418
|
+
def __getstate__(self) -> tuple:
|
|
419
|
+
...
|
|
420
|
+
def __iadd__(self, arg0: Duration) -> Duration:
|
|
421
|
+
...
|
|
422
|
+
def __imul__(self, arg0: int) -> Duration:
|
|
423
|
+
...
|
|
424
|
+
@typing.overload
|
|
425
|
+
def __init__(self) -> None:
|
|
426
|
+
...
|
|
427
|
+
@typing.overload
|
|
428
|
+
def __init__(self, arg0: int) -> None:
|
|
429
|
+
...
|
|
430
|
+
def __isub__(self, arg0: Duration) -> Duration:
|
|
431
|
+
...
|
|
432
|
+
def __itruediv__(self, arg0: int) -> Duration:
|
|
433
|
+
...
|
|
434
|
+
def __mul__(self, arg0: int) -> Duration:
|
|
435
|
+
...
|
|
436
|
+
def __repr__(self) -> str:
|
|
437
|
+
...
|
|
438
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
439
|
+
...
|
|
440
|
+
def __sub__(self, arg0: Duration) -> Duration:
|
|
441
|
+
...
|
|
442
|
+
def __truediv__(self, arg0: int) -> Duration:
|
|
443
|
+
...
|
|
444
|
+
def to_msec(self) -> int:
|
|
445
|
+
...
|
|
446
|
+
def to_sec(self) -> float:
|
|
447
|
+
...
|
|
448
|
+
class ElbowState:
|
|
449
|
+
@staticmethod
|
|
450
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
451
|
+
...
|
|
452
|
+
def __getstate__(self) -> tuple:
|
|
453
|
+
...
|
|
454
|
+
@typing.overload
|
|
455
|
+
def __init__(self, joint_3_pos: float, joint_4_flip: FlipDirection | None = None) -> None:
|
|
456
|
+
...
|
|
457
|
+
@typing.overload
|
|
458
|
+
def __init__(self, arg0: ElbowState) -> None:
|
|
459
|
+
...
|
|
460
|
+
def __repr__(self) -> str:
|
|
461
|
+
...
|
|
462
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
463
|
+
...
|
|
464
|
+
@property
|
|
465
|
+
def joint_3_pos(self) -> float:
|
|
466
|
+
...
|
|
467
|
+
@property
|
|
468
|
+
def joint_4_flip(self) -> FlipDirection | None:
|
|
469
|
+
...
|
|
470
|
+
class Errors:
|
|
471
|
+
@staticmethod
|
|
472
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
473
|
+
...
|
|
474
|
+
def __getstate__(self) -> tuple:
|
|
475
|
+
...
|
|
476
|
+
def __init__(self) -> None:
|
|
477
|
+
...
|
|
478
|
+
def __repr__(self) -> str:
|
|
479
|
+
...
|
|
480
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
481
|
+
...
|
|
482
|
+
@property
|
|
483
|
+
def base_acceleration_initialization_timeout(self) -> bool:
|
|
484
|
+
...
|
|
485
|
+
@property
|
|
486
|
+
def base_acceleration_invalid_reading(self) -> bool:
|
|
487
|
+
...
|
|
488
|
+
@property
|
|
489
|
+
def cartesian_motion_generator_acceleration_discontinuity(self) -> bool:
|
|
490
|
+
...
|
|
491
|
+
@property
|
|
492
|
+
def cartesian_motion_generator_elbow_limit_violation(self) -> bool:
|
|
493
|
+
...
|
|
494
|
+
@property
|
|
495
|
+
def cartesian_motion_generator_elbow_sign_inconsistent(self) -> bool:
|
|
496
|
+
...
|
|
497
|
+
@property
|
|
498
|
+
def cartesian_motion_generator_joint_acceleration_discontinuity(self) -> bool:
|
|
499
|
+
...
|
|
500
|
+
@property
|
|
501
|
+
def cartesian_motion_generator_joint_position_limits_violation(self) -> bool:
|
|
502
|
+
...
|
|
503
|
+
@property
|
|
504
|
+
def cartesian_motion_generator_joint_velocity_discontinuity(self) -> bool:
|
|
505
|
+
...
|
|
506
|
+
@property
|
|
507
|
+
def cartesian_motion_generator_joint_velocity_limits_violation(self) -> bool:
|
|
508
|
+
...
|
|
509
|
+
@property
|
|
510
|
+
def cartesian_motion_generator_start_elbow_invalid(self) -> bool:
|
|
511
|
+
...
|
|
512
|
+
@property
|
|
513
|
+
def cartesian_motion_generator_velocity_discontinuity(self) -> bool:
|
|
514
|
+
...
|
|
515
|
+
@property
|
|
516
|
+
def cartesian_motion_generator_velocity_limits_violation(self) -> bool:
|
|
517
|
+
...
|
|
518
|
+
@property
|
|
519
|
+
def cartesian_position_limits_violation(self) -> bool:
|
|
520
|
+
...
|
|
521
|
+
@property
|
|
522
|
+
def cartesian_position_motion_generator_invalid_frame(self) -> bool:
|
|
523
|
+
...
|
|
524
|
+
@property
|
|
525
|
+
def cartesian_position_motion_generator_start_pose_invalid(self) -> bool:
|
|
526
|
+
...
|
|
527
|
+
@property
|
|
528
|
+
def cartesian_reflex(self) -> bool:
|
|
529
|
+
...
|
|
530
|
+
@property
|
|
531
|
+
def cartesian_spline_motion_generator_violation(self) -> bool:
|
|
532
|
+
...
|
|
533
|
+
@property
|
|
534
|
+
def cartesian_velocity_profile_safety_violation(self) -> bool:
|
|
535
|
+
...
|
|
536
|
+
@property
|
|
537
|
+
def cartesian_velocity_violation(self) -> bool:
|
|
538
|
+
...
|
|
539
|
+
@property
|
|
540
|
+
def communication_constraints_violation(self) -> bool:
|
|
541
|
+
...
|
|
542
|
+
@property
|
|
543
|
+
def controller_torque_discontinuity(self) -> bool:
|
|
544
|
+
...
|
|
545
|
+
@property
|
|
546
|
+
def force_control_safety_violation(self) -> bool:
|
|
547
|
+
...
|
|
548
|
+
@property
|
|
549
|
+
def force_controller_desired_force_tolerance_violation(self) -> bool:
|
|
550
|
+
...
|
|
551
|
+
@property
|
|
552
|
+
def instability_detected(self) -> bool:
|
|
553
|
+
...
|
|
554
|
+
@property
|
|
555
|
+
def joint_motion_generator_acceleration_discontinuity(self) -> bool:
|
|
556
|
+
...
|
|
557
|
+
@property
|
|
558
|
+
def joint_motion_generator_position_limits_violation(self) -> bool:
|
|
559
|
+
...
|
|
560
|
+
@property
|
|
561
|
+
def joint_motion_generator_velocity_discontinuity(self) -> bool:
|
|
562
|
+
...
|
|
563
|
+
@property
|
|
564
|
+
def joint_motion_generator_velocity_limits_violation(self) -> bool:
|
|
565
|
+
...
|
|
566
|
+
@property
|
|
567
|
+
def joint_move_in_wrong_direction(self) -> bool:
|
|
568
|
+
...
|
|
569
|
+
@property
|
|
570
|
+
def joint_p2p_insufficient_torque_for_planning(self) -> bool:
|
|
571
|
+
...
|
|
572
|
+
@property
|
|
573
|
+
def joint_position_limits_violation(self) -> bool:
|
|
574
|
+
...
|
|
575
|
+
@property
|
|
576
|
+
def joint_position_motion_generator_start_pose_invalid(self) -> bool:
|
|
577
|
+
...
|
|
578
|
+
@property
|
|
579
|
+
def joint_reflex(self) -> bool:
|
|
580
|
+
...
|
|
581
|
+
@property
|
|
582
|
+
def joint_velocity_violation(self) -> bool:
|
|
583
|
+
...
|
|
584
|
+
@property
|
|
585
|
+
def joint_via_motion_generator_planning_joint_limit_violation(self) -> bool:
|
|
586
|
+
...
|
|
587
|
+
@property
|
|
588
|
+
def max_goal_pose_deviation_violation(self) -> bool:
|
|
589
|
+
...
|
|
590
|
+
@property
|
|
591
|
+
def max_path_pose_deviation_violation(self) -> bool:
|
|
592
|
+
...
|
|
593
|
+
@property
|
|
594
|
+
def power_limit_violation(self) -> bool:
|
|
595
|
+
...
|
|
596
|
+
@property
|
|
597
|
+
def self_collision_avoidance_violation(self) -> bool:
|
|
598
|
+
...
|
|
599
|
+
@property
|
|
600
|
+
def start_elbow_sign_inconsistent(self) -> bool:
|
|
601
|
+
...
|
|
602
|
+
@property
|
|
603
|
+
def tau_j_range_violation(self) -> bool:
|
|
604
|
+
...
|
|
605
|
+
class Exception(Exception):
|
|
606
|
+
pass
|
|
607
|
+
class ExponentialImpedanceMotion(ImpedanceMotion):
|
|
608
|
+
@staticmethod
|
|
609
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
610
|
+
...
|
|
611
|
+
def __init__(self, target: Affine, target_type: ReferenceType = ..., translational_stiffness: float = 2000, rotational_stiffness: float = 200, force_constraints: typing.Annotated[list[float | None], pybind11_stubgen.typing_ext.FixedSize(6)] | None = None, exponential_decay: float = 0.005) -> None:
|
|
612
|
+
...
|
|
613
|
+
class FlipDirection:
|
|
614
|
+
"""
|
|
615
|
+
Members:
|
|
616
|
+
|
|
617
|
+
Negative
|
|
618
|
+
|
|
619
|
+
Neutral
|
|
620
|
+
|
|
621
|
+
Positive
|
|
622
|
+
"""
|
|
623
|
+
Negative: typing.ClassVar[FlipDirection] # value = <FlipDirection.Negative: -1>
|
|
624
|
+
Neutral: typing.ClassVar[FlipDirection] # value = <FlipDirection.Neutral: 0>
|
|
625
|
+
Positive: typing.ClassVar[FlipDirection] # value = <FlipDirection.Positive: 1>
|
|
626
|
+
__members__: typing.ClassVar[dict[str, FlipDirection]] # value = {'Negative': <FlipDirection.Negative: -1>, 'Neutral': <FlipDirection.Neutral: 0>, 'Positive': <FlipDirection.Positive: 1>}
|
|
627
|
+
@staticmethod
|
|
628
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
629
|
+
...
|
|
630
|
+
def __eq__(self, other: typing.Any) -> bool:
|
|
631
|
+
...
|
|
632
|
+
def __getstate__(self) -> int:
|
|
633
|
+
...
|
|
634
|
+
def __hash__(self) -> int:
|
|
635
|
+
...
|
|
636
|
+
def __index__(self) -> int:
|
|
637
|
+
...
|
|
638
|
+
def __init__(self, value: int) -> None:
|
|
639
|
+
...
|
|
640
|
+
def __int__(self) -> int:
|
|
641
|
+
...
|
|
642
|
+
def __ne__(self, other: typing.Any) -> bool:
|
|
643
|
+
...
|
|
644
|
+
def __repr__(self) -> str:
|
|
645
|
+
...
|
|
646
|
+
def __setstate__(self, state: int) -> None:
|
|
647
|
+
...
|
|
648
|
+
def __str__(self) -> str:
|
|
649
|
+
...
|
|
650
|
+
@property
|
|
651
|
+
def name(self) -> str:
|
|
652
|
+
...
|
|
653
|
+
@property
|
|
654
|
+
def value(self) -> int:
|
|
655
|
+
...
|
|
656
|
+
class Frame:
|
|
657
|
+
"""
|
|
658
|
+
Members:
|
|
659
|
+
|
|
660
|
+
Joint1
|
|
661
|
+
|
|
662
|
+
Joint2
|
|
663
|
+
|
|
664
|
+
Joint3
|
|
665
|
+
|
|
666
|
+
Joint4
|
|
667
|
+
|
|
668
|
+
Joint5
|
|
669
|
+
|
|
670
|
+
Joint6
|
|
671
|
+
|
|
672
|
+
Joint7
|
|
673
|
+
|
|
674
|
+
Flange
|
|
675
|
+
|
|
676
|
+
EndEffector
|
|
677
|
+
|
|
678
|
+
Stiffness
|
|
679
|
+
"""
|
|
680
|
+
EndEffector: typing.ClassVar[Frame] # value = <Frame.EndEffector: 8>
|
|
681
|
+
Flange: typing.ClassVar[Frame] # value = <Frame.Flange: 7>
|
|
682
|
+
Joint1: typing.ClassVar[Frame] # value = <Frame.Joint1: 0>
|
|
683
|
+
Joint2: typing.ClassVar[Frame] # value = <Frame.Joint2: 1>
|
|
684
|
+
Joint3: typing.ClassVar[Frame] # value = <Frame.Joint3: 2>
|
|
685
|
+
Joint4: typing.ClassVar[Frame] # value = <Frame.Joint4: 3>
|
|
686
|
+
Joint5: typing.ClassVar[Frame] # value = <Frame.Joint5: 4>
|
|
687
|
+
Joint6: typing.ClassVar[Frame] # value = <Frame.Joint6: 5>
|
|
688
|
+
Joint7: typing.ClassVar[Frame] # value = <Frame.Joint7: 6>
|
|
689
|
+
Stiffness: typing.ClassVar[Frame] # value = <Frame.Stiffness: 9>
|
|
690
|
+
__members__: typing.ClassVar[dict[str, Frame]] # value = {'Joint1': <Frame.Joint1: 0>, 'Joint2': <Frame.Joint2: 1>, 'Joint3': <Frame.Joint3: 2>, 'Joint4': <Frame.Joint4: 3>, 'Joint5': <Frame.Joint5: 4>, 'Joint6': <Frame.Joint6: 5>, 'Joint7': <Frame.Joint7: 6>, 'Flange': <Frame.Flange: 7>, 'EndEffector': <Frame.EndEffector: 8>, 'Stiffness': <Frame.Stiffness: 9>}
|
|
691
|
+
@staticmethod
|
|
692
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
693
|
+
...
|
|
694
|
+
def __eq__(self, other: typing.Any) -> bool:
|
|
695
|
+
...
|
|
696
|
+
def __getstate__(self) -> int:
|
|
697
|
+
...
|
|
698
|
+
def __hash__(self) -> int:
|
|
699
|
+
...
|
|
700
|
+
def __index__(self) -> int:
|
|
701
|
+
...
|
|
702
|
+
def __init__(self, value: int) -> None:
|
|
703
|
+
...
|
|
704
|
+
def __int__(self) -> int:
|
|
705
|
+
...
|
|
706
|
+
def __ne__(self, other: typing.Any) -> bool:
|
|
707
|
+
...
|
|
708
|
+
def __repr__(self) -> str:
|
|
709
|
+
...
|
|
710
|
+
def __setstate__(self, state: int) -> None:
|
|
711
|
+
...
|
|
712
|
+
def __str__(self) -> str:
|
|
713
|
+
...
|
|
714
|
+
@property
|
|
715
|
+
def name(self) -> str:
|
|
716
|
+
...
|
|
717
|
+
@property
|
|
718
|
+
def value(self) -> int:
|
|
719
|
+
...
|
|
720
|
+
class Gripper:
|
|
721
|
+
@staticmethod
|
|
722
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
723
|
+
...
|
|
724
|
+
def __init__(self, fci_hostname: str) -> None:
|
|
725
|
+
...
|
|
726
|
+
def grasp(self, width: float, speed: float, force: float, epsilon_inner: float = 0.005, epsilon_outer: float = 0.005) -> bool:
|
|
727
|
+
...
|
|
728
|
+
def grasp_async(self, width: float, speed: float, force: float, epsilon_inner: float = 0.005, epsilon_outer: float = 0.005) -> BoolFuture:
|
|
729
|
+
...
|
|
730
|
+
def homing(self) -> bool:
|
|
731
|
+
...
|
|
732
|
+
def homing_async(self) -> BoolFuture:
|
|
733
|
+
...
|
|
734
|
+
def move(self, width: float, speed: float) -> bool:
|
|
735
|
+
...
|
|
736
|
+
def move_async(self, width: float, speed: float) -> BoolFuture:
|
|
737
|
+
...
|
|
738
|
+
def open(self, speed: float) -> bool:
|
|
739
|
+
...
|
|
740
|
+
def open_async(self, speed: float) -> BoolFuture:
|
|
741
|
+
...
|
|
742
|
+
def stop(self) -> bool:
|
|
743
|
+
...
|
|
744
|
+
def stop_async(self) -> BoolFuture:
|
|
745
|
+
...
|
|
746
|
+
@property
|
|
747
|
+
def is_grasped(self) -> bool:
|
|
748
|
+
...
|
|
749
|
+
@property
|
|
750
|
+
def max_width(self) -> float:
|
|
751
|
+
...
|
|
752
|
+
@property
|
|
753
|
+
def server_version(self) -> int:
|
|
754
|
+
...
|
|
755
|
+
@property
|
|
756
|
+
def state(self) -> GripperState:
|
|
757
|
+
...
|
|
758
|
+
@property
|
|
759
|
+
def width(self) -> float:
|
|
760
|
+
...
|
|
761
|
+
class GripperException(Exception):
|
|
762
|
+
pass
|
|
763
|
+
class GripperState:
|
|
764
|
+
@staticmethod
|
|
765
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
766
|
+
...
|
|
767
|
+
def __getstate__(self) -> tuple:
|
|
768
|
+
...
|
|
769
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
770
|
+
...
|
|
771
|
+
@property
|
|
772
|
+
def is_grasped(self) -> bool:
|
|
773
|
+
...
|
|
774
|
+
@property
|
|
775
|
+
def max_width(self) -> float:
|
|
776
|
+
...
|
|
777
|
+
@property
|
|
778
|
+
def temperature(self) -> int:
|
|
779
|
+
...
|
|
780
|
+
@property
|
|
781
|
+
def time(self) -> Duration:
|
|
782
|
+
...
|
|
783
|
+
@property
|
|
784
|
+
def width(self) -> float:
|
|
785
|
+
...
|
|
786
|
+
class ImpedanceMotion(BaseTorqueMotion):
|
|
787
|
+
@staticmethod
|
|
788
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
789
|
+
...
|
|
790
|
+
class IncompatibleVersionException(Exception):
|
|
791
|
+
pass
|
|
792
|
+
class InvalidMotionTypeException(Exception):
|
|
793
|
+
pass
|
|
794
|
+
class InvalidOperationException(Exception):
|
|
795
|
+
pass
|
|
796
|
+
class JointMotion(JointWaypointMotion):
|
|
797
|
+
@staticmethod
|
|
798
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
799
|
+
...
|
|
800
|
+
def __init__(self, target: JointState | list[float] | np.ndarray, reference_type: ReferenceType = ..., relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, return_when_finished: bool = True) -> None:
|
|
801
|
+
...
|
|
802
|
+
class JointPositionReaction:
|
|
803
|
+
@staticmethod
|
|
804
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
805
|
+
...
|
|
806
|
+
def __init__(self, condition: Condition | bool, motion: BaseJointPositionMotion = None) -> None:
|
|
807
|
+
...
|
|
808
|
+
def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration], None]) -> None:
|
|
809
|
+
...
|
|
810
|
+
class JointPositions:
|
|
811
|
+
@staticmethod
|
|
812
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
813
|
+
...
|
|
814
|
+
def __getstate__(self) -> tuple:
|
|
815
|
+
...
|
|
816
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
817
|
+
...
|
|
818
|
+
@property
|
|
819
|
+
def q(self) -> typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)]:
|
|
820
|
+
...
|
|
821
|
+
class JointState:
|
|
822
|
+
@staticmethod
|
|
823
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
824
|
+
...
|
|
825
|
+
def __getstate__(self) -> tuple:
|
|
826
|
+
...
|
|
827
|
+
@typing.overload
|
|
828
|
+
def __init__(self, position: numpy.ndarray[numpy.float64[7, 1]]) -> None:
|
|
829
|
+
...
|
|
830
|
+
@typing.overload
|
|
831
|
+
def __init__(self, position: numpy.ndarray[numpy.float64[7, 1]], velocity: numpy.ndarray[numpy.float64[7, 1]]) -> None:
|
|
832
|
+
...
|
|
833
|
+
@typing.overload
|
|
834
|
+
def __init__(self, arg0: JointState | list[float] | np.ndarray) -> None:
|
|
835
|
+
...
|
|
836
|
+
def __repr__(self) -> str:
|
|
837
|
+
...
|
|
838
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
839
|
+
...
|
|
840
|
+
@property
|
|
841
|
+
def position(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
842
|
+
...
|
|
843
|
+
@property
|
|
844
|
+
def velocity(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
845
|
+
...
|
|
846
|
+
class JointStopMotion(BaseJointPositionMotion):
|
|
847
|
+
@staticmethod
|
|
848
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
849
|
+
...
|
|
850
|
+
def __init__(self, relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0) -> None:
|
|
851
|
+
...
|
|
852
|
+
class JointVelocities:
|
|
853
|
+
@staticmethod
|
|
854
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
855
|
+
...
|
|
856
|
+
def __getstate__(self) -> tuple:
|
|
857
|
+
...
|
|
858
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
859
|
+
...
|
|
860
|
+
@property
|
|
861
|
+
def dq(self) -> typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)]:
|
|
862
|
+
...
|
|
863
|
+
class JointVelocityMotion(JointVelocityWaypointMotion):
|
|
864
|
+
@staticmethod
|
|
865
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
866
|
+
...
|
|
867
|
+
def __init__(self, target: numpy.ndarray[numpy.float64[7, 1]], duration: Duration = ..., relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0) -> None:
|
|
868
|
+
...
|
|
869
|
+
class JointVelocityReaction:
|
|
870
|
+
@staticmethod
|
|
871
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
872
|
+
...
|
|
873
|
+
def __init__(self, condition: Condition | bool, motion: BaseJointVelocityMotion = None) -> None:
|
|
874
|
+
...
|
|
875
|
+
def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration], None]) -> None:
|
|
876
|
+
...
|
|
877
|
+
class JointVelocityStopMotion(BaseJointVelocityMotion):
|
|
878
|
+
@staticmethod
|
|
879
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
880
|
+
...
|
|
881
|
+
def __init__(self, relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0) -> None:
|
|
882
|
+
...
|
|
883
|
+
class JointVelocityWaypoint:
|
|
884
|
+
@staticmethod
|
|
885
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
886
|
+
...
|
|
887
|
+
def __init__(self, target: numpy.ndarray[numpy.float64[7, 1]], relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, minimum_time: Duration | None = None, hold_target_duration: Duration = ..., max_total_duration: Duration | None = None) -> None:
|
|
888
|
+
...
|
|
889
|
+
@property
|
|
890
|
+
def hold_target_duration(self) -> Duration:
|
|
891
|
+
...
|
|
892
|
+
@property
|
|
893
|
+
def max_total_duration(self) -> Duration | None:
|
|
894
|
+
...
|
|
895
|
+
@property
|
|
896
|
+
def minimum_time(self) -> Duration | None:
|
|
897
|
+
...
|
|
898
|
+
@property
|
|
899
|
+
def relative_dynamics_factor(self) -> RelativeDynamicsFactor:
|
|
900
|
+
...
|
|
901
|
+
@property
|
|
902
|
+
def target(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
903
|
+
...
|
|
904
|
+
class JointVelocityWaypointMotion(BaseJointVelocityMotion):
|
|
905
|
+
@staticmethod
|
|
906
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
907
|
+
...
|
|
908
|
+
def __init__(self, waypoints: list[JointVelocityWaypoint], relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0) -> None:
|
|
909
|
+
...
|
|
910
|
+
class JointWaypoint:
|
|
911
|
+
@staticmethod
|
|
912
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
913
|
+
...
|
|
914
|
+
def __init__(self, target: JointState | list[float] | np.ndarray, reference_type: ReferenceType = ..., relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, minimum_time: Duration | None = None, hold_target_duration: Duration = ..., max_total_duration: Duration | None = None) -> None:
|
|
915
|
+
...
|
|
916
|
+
@property
|
|
917
|
+
def hold_target_duration(self) -> Duration:
|
|
918
|
+
...
|
|
919
|
+
@property
|
|
920
|
+
def max_total_duration(self) -> Duration | None:
|
|
921
|
+
...
|
|
922
|
+
@property
|
|
923
|
+
def minimum_time(self) -> Duration | None:
|
|
924
|
+
...
|
|
925
|
+
@property
|
|
926
|
+
def reference_type(self) -> ReferenceType:
|
|
927
|
+
...
|
|
928
|
+
@property
|
|
929
|
+
def relative_dynamics_factor(self) -> RelativeDynamicsFactor:
|
|
930
|
+
...
|
|
931
|
+
@property
|
|
932
|
+
def target(self) -> JointState:
|
|
933
|
+
...
|
|
934
|
+
class JointWaypointMotion(BaseJointPositionMotion):
|
|
935
|
+
@staticmethod
|
|
936
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
937
|
+
...
|
|
938
|
+
def __init__(self, waypoints: list[JointWaypoint], relative_dynamics_factor: RelativeDynamicsFactor | float = 1.0, return_when_finished: bool = True) -> None:
|
|
939
|
+
...
|
|
940
|
+
class Measure:
|
|
941
|
+
ABS_TIME: typing.ClassVar[Measure] # value = t
|
|
942
|
+
FORCE_X: typing.ClassVar[Measure] # value = F_x
|
|
943
|
+
FORCE_Y: typing.ClassVar[Measure] # value = F_y
|
|
944
|
+
FORCE_Z: typing.ClassVar[Measure] # value = F_z
|
|
945
|
+
REL_TIME: typing.ClassVar[Measure] # value = t
|
|
946
|
+
__hash__: typing.ClassVar[None] = None
|
|
947
|
+
@staticmethod
|
|
948
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
949
|
+
...
|
|
950
|
+
@typing.overload
|
|
951
|
+
def __add__(self, arg0: Measure) -> Measure:
|
|
952
|
+
...
|
|
953
|
+
@typing.overload
|
|
954
|
+
def __add__(self, arg0: float) -> Measure:
|
|
955
|
+
...
|
|
956
|
+
@typing.overload
|
|
957
|
+
def __eq__(self, arg0: Measure) -> Condition:
|
|
958
|
+
...
|
|
959
|
+
@typing.overload
|
|
960
|
+
def __eq__(self, arg0: float) -> Condition:
|
|
961
|
+
...
|
|
962
|
+
@typing.overload
|
|
963
|
+
def __ge__(self, arg0: Measure) -> Condition:
|
|
964
|
+
...
|
|
965
|
+
@typing.overload
|
|
966
|
+
def __ge__(self, arg0: float) -> Condition:
|
|
967
|
+
...
|
|
968
|
+
@typing.overload
|
|
969
|
+
def __gt__(self, arg0: Measure) -> Condition:
|
|
970
|
+
...
|
|
971
|
+
@typing.overload
|
|
972
|
+
def __gt__(self, arg0: float) -> Condition:
|
|
973
|
+
...
|
|
974
|
+
@typing.overload
|
|
975
|
+
def __le__(self, arg0: Measure) -> Condition:
|
|
976
|
+
...
|
|
977
|
+
@typing.overload
|
|
978
|
+
def __le__(self, arg0: float) -> Condition:
|
|
979
|
+
...
|
|
980
|
+
@typing.overload
|
|
981
|
+
def __lt__(self, arg0: Measure) -> Condition:
|
|
982
|
+
...
|
|
983
|
+
@typing.overload
|
|
984
|
+
def __lt__(self, arg0: float) -> Condition:
|
|
985
|
+
...
|
|
986
|
+
@typing.overload
|
|
987
|
+
def __mul__(self, arg0: Measure) -> Measure:
|
|
988
|
+
...
|
|
989
|
+
@typing.overload
|
|
990
|
+
def __mul__(self, arg0: float) -> Measure:
|
|
991
|
+
...
|
|
992
|
+
@typing.overload
|
|
993
|
+
def __ne__(self, arg0: Measure) -> Condition:
|
|
994
|
+
...
|
|
995
|
+
@typing.overload
|
|
996
|
+
def __ne__(self, arg0: float) -> Condition:
|
|
997
|
+
...
|
|
998
|
+
def __neg__(self) -> Measure:
|
|
999
|
+
...
|
|
1000
|
+
@typing.overload
|
|
1001
|
+
def __pow__(self, arg0: Measure) -> Measure:
|
|
1002
|
+
...
|
|
1003
|
+
@typing.overload
|
|
1004
|
+
def __pow__(self, arg0: float) -> Measure:
|
|
1005
|
+
...
|
|
1006
|
+
def __radd__(self, arg0: float) -> Measure:
|
|
1007
|
+
...
|
|
1008
|
+
def __repr__(self) -> str:
|
|
1009
|
+
...
|
|
1010
|
+
def __rmul__(self, arg0: float) -> Measure:
|
|
1011
|
+
...
|
|
1012
|
+
def __rpow__(self, arg0: float) -> Measure:
|
|
1013
|
+
...
|
|
1014
|
+
def __rsub__(self, arg0: float) -> Measure:
|
|
1015
|
+
...
|
|
1016
|
+
def __rtruediv__(self, arg0: float) -> Measure:
|
|
1017
|
+
...
|
|
1018
|
+
@typing.overload
|
|
1019
|
+
def __sub__(self, arg0: Measure) -> Measure:
|
|
1020
|
+
...
|
|
1021
|
+
@typing.overload
|
|
1022
|
+
def __sub__(self, arg0: float) -> Measure:
|
|
1023
|
+
...
|
|
1024
|
+
@typing.overload
|
|
1025
|
+
def __truediv__(self, arg0: Measure) -> Measure:
|
|
1026
|
+
...
|
|
1027
|
+
@typing.overload
|
|
1028
|
+
def __truediv__(self, arg0: float) -> Measure:
|
|
1029
|
+
...
|
|
1030
|
+
class Model:
|
|
1031
|
+
@staticmethod
|
|
1032
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1033
|
+
...
|
|
1034
|
+
@typing.overload
|
|
1035
|
+
def body_jacobian(self, frame: Frame, state: RobotState) -> numpy.ndarray[numpy.float64[6, 7]]:
|
|
1036
|
+
...
|
|
1037
|
+
@typing.overload
|
|
1038
|
+
def body_jacobian(self, frame: Frame, q: numpy.ndarray[numpy.float64[7, 1]], F_T_EE: Affine, EE_T_K: Affine) -> numpy.ndarray[numpy.float64[6, 7]]:
|
|
1039
|
+
...
|
|
1040
|
+
@typing.overload
|
|
1041
|
+
def coriolis(self, state: RobotState) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1042
|
+
...
|
|
1043
|
+
@typing.overload
|
|
1044
|
+
def coriolis(self, q: numpy.ndarray[numpy.float64[7, 1]], dq: numpy.ndarray[numpy.float64[7, 1]], I_total: numpy.ndarray[numpy.float64[3, 3]], m_total: float, F_x_Ctotal: numpy.ndarray[numpy.float64[3, 1]]) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1045
|
+
...
|
|
1046
|
+
@typing.overload
|
|
1047
|
+
def gravity(self, state: RobotState, gravity_earth: numpy.ndarray[numpy.float64[3, 1]]) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1048
|
+
...
|
|
1049
|
+
@typing.overload
|
|
1050
|
+
def gravity(self, state: RobotState) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1051
|
+
...
|
|
1052
|
+
@typing.overload
|
|
1053
|
+
def gravity(self, q: numpy.ndarray[numpy.float64[7, 1]], m_total: float, F_x_Ctotal: numpy.ndarray[numpy.float64[3, 1]], gravity_earth: numpy.ndarray[numpy.float64[3, 1]] = ...) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1054
|
+
...
|
|
1055
|
+
@typing.overload
|
|
1056
|
+
def mass(self, state: RobotState) -> numpy.ndarray[numpy.float64[7, 7]]:
|
|
1057
|
+
...
|
|
1058
|
+
@typing.overload
|
|
1059
|
+
def mass(self, q: numpy.ndarray[numpy.float64[7, 1]], I_total: numpy.ndarray[numpy.float64[3, 3]], m_total: float, F_x_Ctotal: numpy.ndarray[numpy.float64[3, 1]]) -> numpy.ndarray[numpy.float64[7, 7]]:
|
|
1060
|
+
...
|
|
1061
|
+
@typing.overload
|
|
1062
|
+
def pose(self, frame: Frame, state: RobotState) -> Affine:
|
|
1063
|
+
...
|
|
1064
|
+
@typing.overload
|
|
1065
|
+
def pose(self, frame: Frame, q: numpy.ndarray[numpy.float64[7, 1]], F_T_EE: Affine, EE_T_K: Affine) -> Affine:
|
|
1066
|
+
...
|
|
1067
|
+
@typing.overload
|
|
1068
|
+
def zero_jacobian(self, frame: Frame, state: RobotState) -> numpy.ndarray[numpy.float64[6, 7]]:
|
|
1069
|
+
...
|
|
1070
|
+
@typing.overload
|
|
1071
|
+
def zero_jacobian(self, frame: Frame, q: numpy.ndarray[numpy.float64[7, 1]], F_T_EE: Affine, EE_T_K: Affine) -> numpy.ndarray[numpy.float64[6, 7]]:
|
|
1072
|
+
...
|
|
1073
|
+
class ModelException(Exception):
|
|
1074
|
+
pass
|
|
1075
|
+
class NetworkException(Exception):
|
|
1076
|
+
pass
|
|
1077
|
+
class ProtocolException(Exception):
|
|
1078
|
+
pass
|
|
1079
|
+
class ReactionRecursionException(Exception):
|
|
1080
|
+
pass
|
|
1081
|
+
class RealtimeConfig:
|
|
1082
|
+
"""
|
|
1083
|
+
Members:
|
|
1084
|
+
|
|
1085
|
+
Enforce
|
|
1086
|
+
|
|
1087
|
+
Ignore
|
|
1088
|
+
"""
|
|
1089
|
+
Enforce: typing.ClassVar[RealtimeConfig] # value = <RealtimeConfig.Enforce: 0>
|
|
1090
|
+
Ignore: typing.ClassVar[RealtimeConfig] # value = <RealtimeConfig.Ignore: 1>
|
|
1091
|
+
__members__: typing.ClassVar[dict[str, RealtimeConfig]] # value = {'Enforce': <RealtimeConfig.Enforce: 0>, 'Ignore': <RealtimeConfig.Ignore: 1>}
|
|
1092
|
+
@staticmethod
|
|
1093
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1094
|
+
...
|
|
1095
|
+
def __eq__(self, other: typing.Any) -> bool:
|
|
1096
|
+
...
|
|
1097
|
+
def __getstate__(self) -> int:
|
|
1098
|
+
...
|
|
1099
|
+
def __hash__(self) -> int:
|
|
1100
|
+
...
|
|
1101
|
+
def __index__(self) -> int:
|
|
1102
|
+
...
|
|
1103
|
+
def __init__(self, value: int) -> None:
|
|
1104
|
+
...
|
|
1105
|
+
def __int__(self) -> int:
|
|
1106
|
+
...
|
|
1107
|
+
def __ne__(self, other: typing.Any) -> bool:
|
|
1108
|
+
...
|
|
1109
|
+
def __repr__(self) -> str:
|
|
1110
|
+
...
|
|
1111
|
+
def __setstate__(self, state: int) -> None:
|
|
1112
|
+
...
|
|
1113
|
+
def __str__(self) -> str:
|
|
1114
|
+
...
|
|
1115
|
+
@property
|
|
1116
|
+
def name(self) -> str:
|
|
1117
|
+
...
|
|
1118
|
+
@property
|
|
1119
|
+
def value(self) -> int:
|
|
1120
|
+
...
|
|
1121
|
+
class RealtimeException(Exception):
|
|
1122
|
+
pass
|
|
1123
|
+
class ReferenceType:
|
|
1124
|
+
"""
|
|
1125
|
+
Members:
|
|
1126
|
+
|
|
1127
|
+
Relative
|
|
1128
|
+
|
|
1129
|
+
Absolute
|
|
1130
|
+
"""
|
|
1131
|
+
Absolute: typing.ClassVar[ReferenceType] # value = <ReferenceType.Absolute: 0>
|
|
1132
|
+
Relative: typing.ClassVar[ReferenceType] # value = <ReferenceType.Relative: 1>
|
|
1133
|
+
__members__: typing.ClassVar[dict[str, ReferenceType]] # value = {'Relative': <ReferenceType.Relative: 1>, 'Absolute': <ReferenceType.Absolute: 0>}
|
|
1134
|
+
@staticmethod
|
|
1135
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1136
|
+
...
|
|
1137
|
+
def __eq__(self, other: typing.Any) -> bool:
|
|
1138
|
+
...
|
|
1139
|
+
def __getstate__(self) -> int:
|
|
1140
|
+
...
|
|
1141
|
+
def __hash__(self) -> int:
|
|
1142
|
+
...
|
|
1143
|
+
def __index__(self) -> int:
|
|
1144
|
+
...
|
|
1145
|
+
def __init__(self, value: int) -> None:
|
|
1146
|
+
...
|
|
1147
|
+
def __int__(self) -> int:
|
|
1148
|
+
...
|
|
1149
|
+
def __ne__(self, other: typing.Any) -> bool:
|
|
1150
|
+
...
|
|
1151
|
+
def __repr__(self) -> str:
|
|
1152
|
+
...
|
|
1153
|
+
def __setstate__(self, state: int) -> None:
|
|
1154
|
+
...
|
|
1155
|
+
def __str__(self) -> str:
|
|
1156
|
+
...
|
|
1157
|
+
@property
|
|
1158
|
+
def name(self) -> str:
|
|
1159
|
+
...
|
|
1160
|
+
@property
|
|
1161
|
+
def value(self) -> int:
|
|
1162
|
+
...
|
|
1163
|
+
class RelativeDynamicsFactor:
|
|
1164
|
+
MAX_DYNAMICS: typing.ClassVar[RelativeDynamicsFactor] # value = <_franky.RelativeDynamicsFactor object>
|
|
1165
|
+
@staticmethod
|
|
1166
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1167
|
+
...
|
|
1168
|
+
@typing.overload
|
|
1169
|
+
def __init__(self) -> None:
|
|
1170
|
+
...
|
|
1171
|
+
@typing.overload
|
|
1172
|
+
def __init__(self, value: float) -> None:
|
|
1173
|
+
...
|
|
1174
|
+
@typing.overload
|
|
1175
|
+
def __init__(self, velocity: float, acceleration: float, jerk: float) -> None:
|
|
1176
|
+
...
|
|
1177
|
+
def __mul__(self, arg0: RelativeDynamicsFactor | float) -> RelativeDynamicsFactor:
|
|
1178
|
+
...
|
|
1179
|
+
@property
|
|
1180
|
+
def acceleration(self) -> float:
|
|
1181
|
+
...
|
|
1182
|
+
@property
|
|
1183
|
+
def jerk(self) -> float:
|
|
1184
|
+
...
|
|
1185
|
+
@property
|
|
1186
|
+
def max_dynamics(self) -> bool:
|
|
1187
|
+
...
|
|
1188
|
+
@property
|
|
1189
|
+
def velocity(self) -> float:
|
|
1190
|
+
...
|
|
1191
|
+
class RobotInternal:
|
|
1192
|
+
control_rate: typing.ClassVar[float] = 0.001
|
|
1193
|
+
degrees_of_freedom: typing.ClassVar[int] = 7
|
|
1194
|
+
relative_dynamics_factor: RelativeDynamicsFactor
|
|
1195
|
+
@staticmethod
|
|
1196
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1197
|
+
...
|
|
1198
|
+
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:
|
|
1199
|
+
...
|
|
1200
|
+
def join_motion(self, timeout: float | None = None) -> bool:
|
|
1201
|
+
...
|
|
1202
|
+
@typing.overload
|
|
1203
|
+
def move(self, motion: BaseCartesianPoseMotion, asynchronous: bool = False) -> None:
|
|
1204
|
+
...
|
|
1205
|
+
@typing.overload
|
|
1206
|
+
def move(self, motion: BaseCartesianVelocityMotion, asynchronous: bool = False) -> None:
|
|
1207
|
+
...
|
|
1208
|
+
@typing.overload
|
|
1209
|
+
def move(self, motion: BaseJointPositionMotion, asynchronous: bool = False) -> None:
|
|
1210
|
+
...
|
|
1211
|
+
@typing.overload
|
|
1212
|
+
def move(self, motion: BaseJointVelocityMotion, asynchronous: bool = False) -> None:
|
|
1213
|
+
...
|
|
1214
|
+
@typing.overload
|
|
1215
|
+
def move(self, motion: BaseTorqueMotion, asynchronous: bool = False) -> None:
|
|
1216
|
+
...
|
|
1217
|
+
def poll_motion(self) -> bool:
|
|
1218
|
+
...
|
|
1219
|
+
def recover_from_errors(self) -> bool:
|
|
1220
|
+
...
|
|
1221
|
+
def set_cartesian_impedance(self, K_x: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(6)]) -> None:
|
|
1222
|
+
...
|
|
1223
|
+
@typing.overload
|
|
1224
|
+
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:
|
|
1225
|
+
...
|
|
1226
|
+
@typing.overload
|
|
1227
|
+
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:
|
|
1228
|
+
...
|
|
1229
|
+
@typing.overload
|
|
1230
|
+
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:
|
|
1231
|
+
...
|
|
1232
|
+
def set_ee(self, NE_T_EE: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(16)]) -> None:
|
|
1233
|
+
...
|
|
1234
|
+
def set_guiding_mode(self, guiding_mode: typing.Annotated[list[bool], pybind11_stubgen.typing_ext.FixedSize(6)], elbow: bool) -> None:
|
|
1235
|
+
...
|
|
1236
|
+
def set_joint_impedance(self, K_theta: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)]) -> None:
|
|
1237
|
+
...
|
|
1238
|
+
def set_k(self, EE_T_K: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(16)]) -> None:
|
|
1239
|
+
...
|
|
1240
|
+
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:
|
|
1241
|
+
...
|
|
1242
|
+
def stop(self) -> None:
|
|
1243
|
+
...
|
|
1244
|
+
@property
|
|
1245
|
+
def current_cartesian_state(self) -> CartesianState:
|
|
1246
|
+
...
|
|
1247
|
+
@property
|
|
1248
|
+
def current_cartesian_velocity(self) -> RobotVelocity:
|
|
1249
|
+
...
|
|
1250
|
+
@property
|
|
1251
|
+
def current_control_signal_type(self) -> ControlSignalType | None:
|
|
1252
|
+
...
|
|
1253
|
+
@property
|
|
1254
|
+
def current_joint_positions(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1255
|
+
...
|
|
1256
|
+
@property
|
|
1257
|
+
def current_joint_state(self) -> JointState:
|
|
1258
|
+
...
|
|
1259
|
+
@property
|
|
1260
|
+
def current_joint_velocities(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1261
|
+
...
|
|
1262
|
+
@property
|
|
1263
|
+
def current_pose(self) -> RobotPose:
|
|
1264
|
+
...
|
|
1265
|
+
@property
|
|
1266
|
+
def elbow_acceleration_limit(self) -> DoubleDynamicsLimit:
|
|
1267
|
+
"""
|
|
1268
|
+
[rad/s²]
|
|
1269
|
+
"""
|
|
1270
|
+
@property
|
|
1271
|
+
def elbow_jerk_limit(self) -> DoubleDynamicsLimit:
|
|
1272
|
+
"""
|
|
1273
|
+
[rad/s³]
|
|
1274
|
+
"""
|
|
1275
|
+
@property
|
|
1276
|
+
def elbow_velocity_limit(self) -> DoubleDynamicsLimit:
|
|
1277
|
+
"""
|
|
1278
|
+
[rad/s]
|
|
1279
|
+
"""
|
|
1280
|
+
@property
|
|
1281
|
+
def fci_hostname(self) -> str:
|
|
1282
|
+
...
|
|
1283
|
+
@property
|
|
1284
|
+
def has_errors(self) -> bool:
|
|
1285
|
+
...
|
|
1286
|
+
@property
|
|
1287
|
+
def is_in_control(self) -> bool:
|
|
1288
|
+
...
|
|
1289
|
+
@property
|
|
1290
|
+
def joint_acceleration_limit(self) -> VectorDynamicsLimit:
|
|
1291
|
+
"""
|
|
1292
|
+
[rad/s²]
|
|
1293
|
+
"""
|
|
1294
|
+
@property
|
|
1295
|
+
def joint_jerk_limit(self) -> VectorDynamicsLimit:
|
|
1296
|
+
"""
|
|
1297
|
+
[rad/s^3]
|
|
1298
|
+
"""
|
|
1299
|
+
@property
|
|
1300
|
+
def joint_velocity_limit(self) -> VectorDynamicsLimit:
|
|
1301
|
+
"""
|
|
1302
|
+
[rad/s]
|
|
1303
|
+
"""
|
|
1304
|
+
@property
|
|
1305
|
+
def model(self) -> Model:
|
|
1306
|
+
...
|
|
1307
|
+
@property
|
|
1308
|
+
def model_urdf(self) -> str:
|
|
1309
|
+
...
|
|
1310
|
+
@property
|
|
1311
|
+
def rotation_acceleration_limit(self) -> DoubleDynamicsLimit:
|
|
1312
|
+
"""
|
|
1313
|
+
[rad/s²]
|
|
1314
|
+
"""
|
|
1315
|
+
@property
|
|
1316
|
+
def rotation_jerk_limit(self) -> DoubleDynamicsLimit:
|
|
1317
|
+
"""
|
|
1318
|
+
[rad/s³]
|
|
1319
|
+
"""
|
|
1320
|
+
@property
|
|
1321
|
+
def rotation_velocity_limit(self) -> DoubleDynamicsLimit:
|
|
1322
|
+
"""
|
|
1323
|
+
[rad/s]
|
|
1324
|
+
"""
|
|
1325
|
+
@property
|
|
1326
|
+
def state(self) -> RobotState:
|
|
1327
|
+
...
|
|
1328
|
+
@property
|
|
1329
|
+
def translation_acceleration_limit(self) -> DoubleDynamicsLimit:
|
|
1330
|
+
"""
|
|
1331
|
+
[m/s²]
|
|
1332
|
+
"""
|
|
1333
|
+
@property
|
|
1334
|
+
def translation_jerk_limit(self) -> DoubleDynamicsLimit:
|
|
1335
|
+
"""
|
|
1336
|
+
[m/s³]
|
|
1337
|
+
"""
|
|
1338
|
+
@property
|
|
1339
|
+
def translation_velocity_limit(self) -> DoubleDynamicsLimit:
|
|
1340
|
+
"""
|
|
1341
|
+
[m/s]
|
|
1342
|
+
"""
|
|
1343
|
+
class RobotMode:
|
|
1344
|
+
"""
|
|
1345
|
+
Members:
|
|
1346
|
+
|
|
1347
|
+
Other
|
|
1348
|
+
|
|
1349
|
+
Idle
|
|
1350
|
+
|
|
1351
|
+
Move
|
|
1352
|
+
|
|
1353
|
+
Guiding
|
|
1354
|
+
|
|
1355
|
+
Reflex
|
|
1356
|
+
|
|
1357
|
+
UserStopped
|
|
1358
|
+
|
|
1359
|
+
AutomaticErrorRecovery
|
|
1360
|
+
"""
|
|
1361
|
+
AutomaticErrorRecovery: typing.ClassVar[RobotMode] # value = <RobotMode.AutomaticErrorRecovery: 6>
|
|
1362
|
+
Guiding: typing.ClassVar[RobotMode] # value = <RobotMode.Guiding: 3>
|
|
1363
|
+
Idle: typing.ClassVar[RobotMode] # value = <RobotMode.Idle: 1>
|
|
1364
|
+
Move: typing.ClassVar[RobotMode] # value = <RobotMode.Move: 2>
|
|
1365
|
+
Other: typing.ClassVar[RobotMode] # value = <RobotMode.Other: 0>
|
|
1366
|
+
Reflex: typing.ClassVar[RobotMode] # value = <RobotMode.Reflex: 4>
|
|
1367
|
+
UserStopped: typing.ClassVar[RobotMode] # value = <RobotMode.UserStopped: 5>
|
|
1368
|
+
__members__: typing.ClassVar[dict[str, RobotMode]] # value = {'Other': <RobotMode.Other: 0>, 'Idle': <RobotMode.Idle: 1>, 'Move': <RobotMode.Move: 2>, 'Guiding': <RobotMode.Guiding: 3>, 'Reflex': <RobotMode.Reflex: 4>, 'UserStopped': <RobotMode.UserStopped: 5>, 'AutomaticErrorRecovery': <RobotMode.AutomaticErrorRecovery: 6>}
|
|
1369
|
+
@staticmethod
|
|
1370
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1371
|
+
...
|
|
1372
|
+
def __eq__(self, other: typing.Any) -> bool:
|
|
1373
|
+
...
|
|
1374
|
+
def __getstate__(self) -> int:
|
|
1375
|
+
...
|
|
1376
|
+
def __hash__(self) -> int:
|
|
1377
|
+
...
|
|
1378
|
+
def __index__(self) -> int:
|
|
1379
|
+
...
|
|
1380
|
+
def __init__(self, value: int) -> None:
|
|
1381
|
+
...
|
|
1382
|
+
def __int__(self) -> int:
|
|
1383
|
+
...
|
|
1384
|
+
def __ne__(self, other: typing.Any) -> bool:
|
|
1385
|
+
...
|
|
1386
|
+
def __repr__(self) -> str:
|
|
1387
|
+
...
|
|
1388
|
+
def __setstate__(self, state: int) -> None:
|
|
1389
|
+
...
|
|
1390
|
+
def __str__(self) -> str:
|
|
1391
|
+
...
|
|
1392
|
+
@property
|
|
1393
|
+
def name(self) -> str:
|
|
1394
|
+
...
|
|
1395
|
+
@property
|
|
1396
|
+
def value(self) -> int:
|
|
1397
|
+
...
|
|
1398
|
+
class RobotPose:
|
|
1399
|
+
@staticmethod
|
|
1400
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1401
|
+
...
|
|
1402
|
+
def __getstate__(self) -> tuple:
|
|
1403
|
+
...
|
|
1404
|
+
@typing.overload
|
|
1405
|
+
def __init__(self, end_effector_pose: Affine, elbow_state: ElbowState | None = None) -> None:
|
|
1406
|
+
...
|
|
1407
|
+
@typing.overload
|
|
1408
|
+
def __init__(self, arg0: RobotPose | Affine) -> None:
|
|
1409
|
+
...
|
|
1410
|
+
def __mul__(self, arg0: Affine) -> RobotPose:
|
|
1411
|
+
...
|
|
1412
|
+
def __repr__(self) -> str:
|
|
1413
|
+
...
|
|
1414
|
+
def __rmul__(self, arg0: Affine) -> RobotPose:
|
|
1415
|
+
...
|
|
1416
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
1417
|
+
...
|
|
1418
|
+
def change_end_effector_frame(self, offset_world_frame: Affine) -> RobotPose:
|
|
1419
|
+
...
|
|
1420
|
+
def with_elbow_state(self, elbow_state: ElbowState | None) -> RobotPose:
|
|
1421
|
+
...
|
|
1422
|
+
@property
|
|
1423
|
+
def elbow_state(self) -> ElbowState | None:
|
|
1424
|
+
...
|
|
1425
|
+
@property
|
|
1426
|
+
def end_effector_pose(self) -> Affine:
|
|
1427
|
+
...
|
|
1428
|
+
class RobotState:
|
|
1429
|
+
@staticmethod
|
|
1430
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1431
|
+
...
|
|
1432
|
+
def __getstate__(self) -> tuple:
|
|
1433
|
+
...
|
|
1434
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
1435
|
+
...
|
|
1436
|
+
@property
|
|
1437
|
+
def EE_T_K(self) -> Affine:
|
|
1438
|
+
...
|
|
1439
|
+
@property
|
|
1440
|
+
def F_T_EE(self) -> Affine:
|
|
1441
|
+
...
|
|
1442
|
+
@property
|
|
1443
|
+
def F_T_NE(self) -> Affine:
|
|
1444
|
+
...
|
|
1445
|
+
@property
|
|
1446
|
+
def F_x_Cee(self) -> numpy.ndarray[numpy.float64[3, 1]]:
|
|
1447
|
+
...
|
|
1448
|
+
@property
|
|
1449
|
+
def F_x_Cload(self) -> numpy.ndarray[numpy.float64[3, 1]]:
|
|
1450
|
+
...
|
|
1451
|
+
@property
|
|
1452
|
+
def F_x_Ctotal(self) -> numpy.ndarray[numpy.float64[3, 1]]:
|
|
1453
|
+
...
|
|
1454
|
+
@property
|
|
1455
|
+
def I_ee(self) -> numpy.ndarray[numpy.float64[3, 3]]:
|
|
1456
|
+
...
|
|
1457
|
+
@property
|
|
1458
|
+
def I_load(self) -> numpy.ndarray[numpy.float64[3, 3]]:
|
|
1459
|
+
...
|
|
1460
|
+
@property
|
|
1461
|
+
def I_total(self) -> numpy.ndarray[numpy.float64[3, 3]]:
|
|
1462
|
+
...
|
|
1463
|
+
@property
|
|
1464
|
+
def K_F_ext_hat_K(self) -> numpy.ndarray[numpy.float64[6, 1]]:
|
|
1465
|
+
...
|
|
1466
|
+
@property
|
|
1467
|
+
def NE_T_EE(self) -> Affine:
|
|
1468
|
+
...
|
|
1469
|
+
@property
|
|
1470
|
+
def O_F_ext_hat_K(self) -> numpy.ndarray[numpy.float64[6, 1]]:
|
|
1471
|
+
...
|
|
1472
|
+
@property
|
|
1473
|
+
def O_T_EE(self) -> Affine:
|
|
1474
|
+
...
|
|
1475
|
+
@property
|
|
1476
|
+
def O_T_EE_c(self) -> Affine:
|
|
1477
|
+
...
|
|
1478
|
+
@property
|
|
1479
|
+
def O_T_EE_d(self) -> Affine:
|
|
1480
|
+
...
|
|
1481
|
+
@property
|
|
1482
|
+
def O_dP_EE_c(self) -> Twist:
|
|
1483
|
+
...
|
|
1484
|
+
@property
|
|
1485
|
+
def O_dP_EE_d(self) -> Twist:
|
|
1486
|
+
...
|
|
1487
|
+
@property
|
|
1488
|
+
def O_dP_EE_est(self) -> Twist | None:
|
|
1489
|
+
...
|
|
1490
|
+
@property
|
|
1491
|
+
def O_ddP_EE_c(self) -> TwistAcceleration:
|
|
1492
|
+
...
|
|
1493
|
+
@property
|
|
1494
|
+
def O_ddP_EE_est(self) -> TwistAcceleration | None:
|
|
1495
|
+
...
|
|
1496
|
+
@property
|
|
1497
|
+
def O_ddP_O(self) -> numpy.ndarray[numpy.float64[3, 1]]:
|
|
1498
|
+
...
|
|
1499
|
+
@property
|
|
1500
|
+
def cartesian_collision(self) -> numpy.ndarray[numpy.float64[6, 1]]:
|
|
1501
|
+
...
|
|
1502
|
+
@property
|
|
1503
|
+
def cartesian_contact(self) -> numpy.ndarray[numpy.float64[6, 1]]:
|
|
1504
|
+
...
|
|
1505
|
+
@property
|
|
1506
|
+
def control_command_success_rate(self) -> float:
|
|
1507
|
+
...
|
|
1508
|
+
@property
|
|
1509
|
+
def current_errors(self) -> Errors:
|
|
1510
|
+
...
|
|
1511
|
+
@property
|
|
1512
|
+
def ddelbow_c(self) -> float:
|
|
1513
|
+
...
|
|
1514
|
+
@property
|
|
1515
|
+
def ddelbow_est(self) -> float | None:
|
|
1516
|
+
...
|
|
1517
|
+
@property
|
|
1518
|
+
def ddq_d(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1519
|
+
...
|
|
1520
|
+
@property
|
|
1521
|
+
def ddq_est(self) -> numpy.ndarray[numpy.float64[7, 1]] | None:
|
|
1522
|
+
...
|
|
1523
|
+
@property
|
|
1524
|
+
def delbow_c(self) -> float:
|
|
1525
|
+
...
|
|
1526
|
+
@property
|
|
1527
|
+
def delbow_est(self) -> float | None:
|
|
1528
|
+
...
|
|
1529
|
+
@property
|
|
1530
|
+
def dq(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1531
|
+
...
|
|
1532
|
+
@property
|
|
1533
|
+
def dq_d(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1534
|
+
...
|
|
1535
|
+
@property
|
|
1536
|
+
def dq_est(self) -> numpy.ndarray[numpy.float64[7, 1]] | None:
|
|
1537
|
+
...
|
|
1538
|
+
@property
|
|
1539
|
+
def dtau_J(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1540
|
+
...
|
|
1541
|
+
@property
|
|
1542
|
+
def dtheta(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1543
|
+
...
|
|
1544
|
+
@property
|
|
1545
|
+
def elbow(self) -> ElbowState:
|
|
1546
|
+
...
|
|
1547
|
+
@property
|
|
1548
|
+
def elbow_c(self) -> ElbowState:
|
|
1549
|
+
...
|
|
1550
|
+
@property
|
|
1551
|
+
def elbow_d(self) -> ElbowState:
|
|
1552
|
+
...
|
|
1553
|
+
@property
|
|
1554
|
+
def joint_collision(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1555
|
+
...
|
|
1556
|
+
@property
|
|
1557
|
+
def joint_contact(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1558
|
+
...
|
|
1559
|
+
@property
|
|
1560
|
+
def last_motion_errors(self) -> Errors:
|
|
1561
|
+
...
|
|
1562
|
+
@property
|
|
1563
|
+
def m_ee(self) -> float:
|
|
1564
|
+
...
|
|
1565
|
+
@property
|
|
1566
|
+
def m_load(self) -> float:
|
|
1567
|
+
...
|
|
1568
|
+
@property
|
|
1569
|
+
def m_total(self) -> float:
|
|
1570
|
+
...
|
|
1571
|
+
@property
|
|
1572
|
+
def q(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1573
|
+
...
|
|
1574
|
+
@property
|
|
1575
|
+
def q_d(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1576
|
+
...
|
|
1577
|
+
@property
|
|
1578
|
+
def q_est(self) -> numpy.ndarray[numpy.float64[7, 1]] | None:
|
|
1579
|
+
...
|
|
1580
|
+
@property
|
|
1581
|
+
def robot_mode(self) -> RobotMode:
|
|
1582
|
+
...
|
|
1583
|
+
@property
|
|
1584
|
+
def tau_J(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1585
|
+
...
|
|
1586
|
+
@property
|
|
1587
|
+
def tau_J_d(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1588
|
+
...
|
|
1589
|
+
@property
|
|
1590
|
+
def tau_ext_hat_filtered(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1591
|
+
...
|
|
1592
|
+
@property
|
|
1593
|
+
def theta(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1594
|
+
...
|
|
1595
|
+
@property
|
|
1596
|
+
def time(self) -> Duration:
|
|
1597
|
+
...
|
|
1598
|
+
class RobotVelocity:
|
|
1599
|
+
@staticmethod
|
|
1600
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1601
|
+
...
|
|
1602
|
+
def __getstate__(self) -> tuple:
|
|
1603
|
+
...
|
|
1604
|
+
@typing.overload
|
|
1605
|
+
def __init__(self, end_effector_twist: Twist, elbow_velocity: float | None = None) -> None:
|
|
1606
|
+
...
|
|
1607
|
+
@typing.overload
|
|
1608
|
+
def __init__(self, arg0: RobotVelocity | Twist) -> None:
|
|
1609
|
+
...
|
|
1610
|
+
def __repr__(self) -> str:
|
|
1611
|
+
...
|
|
1612
|
+
@typing.overload
|
|
1613
|
+
def __rmul__(self, arg0: Affine) -> RobotVelocity:
|
|
1614
|
+
...
|
|
1615
|
+
@typing.overload
|
|
1616
|
+
def __rmul__(self, arg0: numpy.ndarray[numpy.float64[4, 1]]) -> RobotVelocity:
|
|
1617
|
+
...
|
|
1618
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
1619
|
+
...
|
|
1620
|
+
def change_end_effector_frame(self, offset_world_frame: numpy.ndarray[numpy.float64[3, 1]]) -> RobotVelocity:
|
|
1621
|
+
...
|
|
1622
|
+
def with_elbow_velocity(self, elbow_velocity: float | None) -> RobotVelocity:
|
|
1623
|
+
...
|
|
1624
|
+
@property
|
|
1625
|
+
def elbow_velocity(self) -> float | None:
|
|
1626
|
+
...
|
|
1627
|
+
@property
|
|
1628
|
+
def end_effector_twist(self) -> Twist:
|
|
1629
|
+
...
|
|
1630
|
+
class TorqueReaction:
|
|
1631
|
+
@staticmethod
|
|
1632
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1633
|
+
...
|
|
1634
|
+
def __init__(self, condition: Condition | bool, motion: BaseTorqueMotion = None) -> None:
|
|
1635
|
+
...
|
|
1636
|
+
def register_callback(self, callback: typing.Callable[[_franky.RobotState, _franky.Duration, _franky.Duration], None]) -> None:
|
|
1637
|
+
...
|
|
1638
|
+
class Torques:
|
|
1639
|
+
@staticmethod
|
|
1640
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1641
|
+
...
|
|
1642
|
+
def __getstate__(self) -> tuple:
|
|
1643
|
+
...
|
|
1644
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
1645
|
+
...
|
|
1646
|
+
@property
|
|
1647
|
+
def tau_J(self) -> typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)]:
|
|
1648
|
+
...
|
|
1649
|
+
class Twist:
|
|
1650
|
+
@staticmethod
|
|
1651
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1652
|
+
...
|
|
1653
|
+
def __getstate__(self) -> tuple:
|
|
1654
|
+
...
|
|
1655
|
+
@typing.overload
|
|
1656
|
+
def __init__(self, linear_velocity: numpy.ndarray[numpy.float64[3, 1]] | None = None, angular_velocity: numpy.ndarray[numpy.float64[3, 1]] | None = None) -> None:
|
|
1657
|
+
...
|
|
1658
|
+
@typing.overload
|
|
1659
|
+
def __init__(self, arg0: Twist) -> None:
|
|
1660
|
+
...
|
|
1661
|
+
def __repr__(self) -> str:
|
|
1662
|
+
...
|
|
1663
|
+
@typing.overload
|
|
1664
|
+
def __rmul__(self, arg0: Affine) -> Twist:
|
|
1665
|
+
...
|
|
1666
|
+
@typing.overload
|
|
1667
|
+
def __rmul__(self, arg0: numpy.ndarray[numpy.float64[4, 1]]) -> Twist:
|
|
1668
|
+
...
|
|
1669
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
1670
|
+
...
|
|
1671
|
+
def propagate_through_link(self, link_translation: numpy.ndarray[numpy.float64[3, 1]]) -> Twist:
|
|
1672
|
+
...
|
|
1673
|
+
@typing.overload
|
|
1674
|
+
def transform_with(self, affine: Affine) -> Twist:
|
|
1675
|
+
...
|
|
1676
|
+
@typing.overload
|
|
1677
|
+
def transform_with(self, quaternion: numpy.ndarray[numpy.float64[4, 1]]) -> Twist:
|
|
1678
|
+
...
|
|
1679
|
+
@property
|
|
1680
|
+
def angular(self) -> numpy.ndarray[numpy.float64[3, 1]]:
|
|
1681
|
+
...
|
|
1682
|
+
@property
|
|
1683
|
+
def linear(self) -> numpy.ndarray[numpy.float64[3, 1]]:
|
|
1684
|
+
...
|
|
1685
|
+
class TwistAcceleration:
|
|
1686
|
+
@staticmethod
|
|
1687
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1688
|
+
...
|
|
1689
|
+
def __getstate__(self) -> tuple:
|
|
1690
|
+
...
|
|
1691
|
+
@typing.overload
|
|
1692
|
+
def __init__(self, linear_acceleration: numpy.ndarray[numpy.float64[3, 1]] | None = None, angular_acceleration: numpy.ndarray[numpy.float64[3, 1]] | None = None) -> None:
|
|
1693
|
+
...
|
|
1694
|
+
@typing.overload
|
|
1695
|
+
def __init__(self, arg0: TwistAcceleration) -> None:
|
|
1696
|
+
...
|
|
1697
|
+
def __repr__(self) -> str:
|
|
1698
|
+
...
|
|
1699
|
+
@typing.overload
|
|
1700
|
+
def __rmul__(self, arg0: Affine) -> TwistAcceleration:
|
|
1701
|
+
...
|
|
1702
|
+
@typing.overload
|
|
1703
|
+
def __rmul__(self, arg0: numpy.ndarray[numpy.float64[4, 1]]) -> TwistAcceleration:
|
|
1704
|
+
...
|
|
1705
|
+
def __setstate__(self, arg0: tuple) -> None:
|
|
1706
|
+
...
|
|
1707
|
+
def propagate_through_link(self, link_translation: numpy.ndarray[numpy.float64[3, 1]], base_angular_acceleration: numpy.ndarray[numpy.float64[3, 1]]) -> TwistAcceleration:
|
|
1708
|
+
...
|
|
1709
|
+
@typing.overload
|
|
1710
|
+
def transform_with(self, affine: Affine) -> TwistAcceleration:
|
|
1711
|
+
...
|
|
1712
|
+
@typing.overload
|
|
1713
|
+
def transform_with(self, quaternion: numpy.ndarray[numpy.float64[4, 1]]) -> TwistAcceleration:
|
|
1714
|
+
...
|
|
1715
|
+
@property
|
|
1716
|
+
def angular(self) -> numpy.ndarray[numpy.float64[3, 1]]:
|
|
1717
|
+
...
|
|
1718
|
+
@property
|
|
1719
|
+
def linear(self) -> numpy.ndarray[numpy.float64[3, 1]]:
|
|
1720
|
+
...
|
|
1721
|
+
class VectorDynamicsLimit:
|
|
1722
|
+
@staticmethod
|
|
1723
|
+
def _pybind11_conduit_v1_(*args, **kwargs):
|
|
1724
|
+
...
|
|
1725
|
+
def __repr__(self) -> str:
|
|
1726
|
+
...
|
|
1727
|
+
def get(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1728
|
+
...
|
|
1729
|
+
def set(self, value: typing.Annotated[list[float], pybind11_stubgen.typing_ext.FixedSize(7)] | numpy.ndarray[numpy.float64[7, 1]]) -> None:
|
|
1730
|
+
...
|
|
1731
|
+
@property
|
|
1732
|
+
def desc(self) -> str:
|
|
1733
|
+
...
|
|
1734
|
+
@property
|
|
1735
|
+
def max(self) -> numpy.ndarray[numpy.float64[7, 1]]:
|
|
1736
|
+
...
|