franky-control 1.0.2__cp310-cp310-manylinux_2_28_x86_64.whl

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+Metadata-Version: 2.4
+Name: franky-control
+Version: 1.0.2
+Summary: High-level control library for Franka robots.
+Home-page: https://github.com/TimSchneider42/franky
+Author: Tim Schneider
+Author-email: tim@robot-learning.de
+License: LGPL-3.0-or-later
+Keywords: robot,robotics,trajectory-generation,motion-control
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Scientific/Engineering
+Classifier: Programming Language :: C++
+Requires-Python: >=3.7
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy
+Dynamic: author
+Dynamic: author-email
+Dynamic: classifier
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: home-page
+Dynamic: keywords
+Dynamic: license
+Dynamic: license-file
+Dynamic: requires-dist
+Dynamic: requires-python
+Dynamic: summary
+
+<div align="center">
+  <img width="340" src="https://raw.githubusercontent.com/timschneider42/franky/master/doc/logo.svg?sanitize=true">
+  <h3 align="center">
+    High-Level Control Library for Franka Robots with Python and C++ Support
+  </h3>
+</div>
+<p align="center">
+  <a href="https://github.com/timschneider42/franky/actions">
+    <img src="https://github.com/timschneider42/franky/workflows/CI/badge.svg" alt="CI">
+  </a>
+
+  <a href="https://github.com/timschneider42/franky/actions">
+    <img src="https://github.com/timschneider42/franky/workflows/Publish/badge.svg" alt="Publish">
+  </a>
+
+  <a href="https://github.com/timschneider42/franky/issues">
+    <img src="https://img.shields.io/github/issues/timschneider42/franky.svg" alt="Issues">
+  </a>
+
+  <a href="https://github.com/timschneider42/franky/releases">
+    <img src="https://img.shields.io/github/v/release/timschneider42/franky.svg?include_prereleases&sort=semver" alt="Releases">
+  </a>
+
+  <a href="https://github.com/timschneider42/franky/blob/master/LICENSE">
+    <img src="https://img.shields.io/badge/license-LGPL-green.svg" alt="LGPL">
+  </a>
+</p>
+
+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.
+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.
+
+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 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.
+The full documentation can be found
+at [https://timschneider42.github.io/franky/](https://timschneider42.github.io/franky/).
+
+## 🚀 Features
+
+- **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)  
+  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 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.
+
+- **[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)**  
+  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.
+
+## 📖 Python Quickstart Guide
+
+Real-time kernel already installed and real-time permissions granted? Just install Franky via
+
+```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
+
+### Installing a real-time 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`.
+You should see something like this:
+
+```
+$ uname -a
+Linux [PCNAME] 5.15.0-1056-realtime #63-Ubuntu SMP PREEMPT_RT ...
+```
+
+If it does not say PREEMPT_RT, you are not currently running a real-time kernel.
+
+There are multiple ways of installing a real-time kernel.
+You
+can [build it from source](https://frankaemika.github.io/docs/installation_linux.html#setting-up-the-real-time-kernel)
+or, if you are using Ubuntu, it can be [enabled through Ubuntu Pro](https://ubuntu.com/real-time).
+
+### 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:
+
+```bash
+sudo addgroup realtime
+sudo usermod -a -G realtime $(whoami)
+```
+
+Afterward, add the following limits to the real-time group in /etc/security/limits.conf:
+
+```
+@realtime soft rtprio 99
+@realtime soft priority 99
+@realtime soft memlock 102400
+@realtime hard rtprio 99
+@realtime hard priority 99
+@realtime hard memlock 102400
+```
+
+Log out and log in again to let the changes take effect.
+
+To verify that the changes were applied, check if your user is in the `realtime` group:
+
+```bash
+$ groups
+... realtime
+```
+
+If realtime is not listed in your groups, try rebooting.
+
+### Installing Franky
+
+To start using Franky with Python and libfranka *0.15.0*, just install it via
+
+```bash
+pip install franky-control
+```
+
+We also provide wheels for libfranka versions *0.7.1*, *0.8.0*, *0.9.2*, *0.10.0*, *0.11.0*, *0.12.1*, *0.13.3*,
+*0.14.2*, and *0.15.0*.
+They can be installed via
+
+```bash
+VERSION=0-9-2
+wget https://github.com/TimSchneider42/franky/releases/latest/download/libfranka_${VERSION}_wheels.zip
+unzip libfranka_${VERSION}_wheels.zip
+pip install numpy
+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).
+
+After installing the dependencies (the exact versions can be found [here](#-development)), you can build and install
+Franky via
+
+```bash
+git clone --recurse-submodules git@github.com:timschneider42/franky.git
+cd franky
+mkdir -p build
+cd build
+cmake -DCMAKE_BUILD_TYPE=Release ..
+make
+make install
+```
+
+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
+
+```bash
+pip install .
+```
+
+Make sure that the built library `_franky.cpython-3**-****-linux-gnu.so` is in the Python path, e.g. by adjusting
+`PYTHONPATH` accordingly.
+
+#### Using Docker
+
+To use Franky within Docker we provide a [Dockerfile](docker/run/Dockerfile) and
+accompanying [docker-compose](docker-compose.yml) file.
+
+```bash
+git clone --recurse-submodules https://github.com/timschneider42/franky.git
+cd franky/
+docker compose build franky-run
+```
+
+To use another version of libfranka than the default (0.15.0) add a build argument:
+
+```bash
+docker compose build franky-run --build-arg LIBFRANKA_VERSION=0.9.2
+```
+
+To run the container:
+
+```bash
+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
+
+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
+docker compose run --rm franky-build run-tests  # To run the tests
+docker compose run --rm franky-build build-wheels  # To build wheels for all supported python versions
+```
+
+## 📚 Tutorial
+
+Franky comes with both a C++ and Python API that differ only regarding real-time capability.
+We will introduce both languages next to each other.
+In your C++ project, just include `include <franky.hpp>` and link the library.
+For Python, just `import franky`.
+As a first example, only four lines of code are needed for simple robotic motions.
+
+```c++
+#include <franky.hpp>
+using namespace franky;
+
+// Connect to the robot with the FCI IP address
+Robot robot("172.16.0.2");
+
+// Reduce velocity and acceleration of the robot
+robot.setRelativeDynamicsFactor(0.05);
+
+// Move the end-effector 20cm in positive x-direction
+auto motion = std::make_shared<CartesianMotion>(RobotPose(Affine({0.2, 0.0, 0.0}), 0.0), ReferenceType::Relative);
+
+// Finally move the robot
+robot.move(motion);
+```
+
+The corresponding program in Python is
+
+```python
+from franky import Affine, CartesianMotion, Robot, ReferenceType
+
+robot = Robot("172.16.0.2")
+robot.relative_dynamics_factor = 0.05
+
+motion = CartesianMotion(Affine([0.2, 0.0, 0.0]), ReferenceType.Relative)
+robot.move(motion)
+```
+
+Furthermore, we will introduce methods for geometric calculations, for moving the robot according to different motion
+types, how to implement real-time reactions and changing waypoints in real time as well as controlling the gripper.
+
+### 🧮 Geometry
+
+`franky.Affine` is a python wrapper for [Eigen::Affine3d](https://eigen.tuxfamily.org/dox/group__TutorialGeometry.html).
+It is used for Cartesian poses, frames and transformation.
+franky adds its own constructor, which takes a position and a quaternion as inputs:
+
+```python
+import math
+from scipy.spatial.transform import Rotation
+from franky import Affine
+
+z_translation = Affine([0.0, 0.0, 0.5])
+
+quat = Rotation.from_euler("xyz", [0, 0, math.pi / 2]).as_quat()
+z_rotation = Affine([0.0, 0.0, 0.0], quat)
+
+combined_transformation = z_translation * z_rotation
+```
+
+In all cases, distances are in [m] and rotations in [rad].
+
+### 🤖 Robot
+
+Franky exposes most of the libfanka API for Python.
+Moreover, we added methods to adapt the dynamics limits of the robot for all motions.
+
+```python
+from franky import *
+
+robot = Robot("172.16.0.2")
+
+# Recover from errors
+robot.recover_from_errors()
+
+# Set velocity, acceleration and jerk to 5% of the maximum
+robot.relative_dynamics_factor = 0.05
+
+# Alternatively, you can define each constraint individually
+robot.relative_dynamics_factor = RelativeDynamicsFactor(velocity=0.1, acceleration=0.05, jerk=0.1)
+
+# Or, for more finegrained access, set individual limits
+robot.translation_velocity_limit.set(3.0)
+robot.rotation_velocity_limit.set(2.5)
+robot.elbow_velocity_limit.set(2.62)
+robot.translation_acceleration_limit.set(9.0)
+robot.rotation_acceleration_limit.set(17.0)
+robot.elbow_acceleration_limit.set(10.0)
+robot.translation_jerk_limit.set(4500.0)
+robot.rotation_jerk_limit.set(8500.0)
+robot.elbow_jerk_limit.set(5000.0)
+robot.joint_velocity_limit.set([2.62, 2.62, 2.62, 2.62, 5.26, 4.18, 5.26])
+robot.joint_acceleration_limit.set([10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0])
+robot.joint_jerk_limit.set([5000.0, 5000.0, 5000.0, 5000.0, 5000.0, 5000.0, 5000.0])
+# By default, these limits are set to their respective maxima (the values shown here)
+
+# Get the max of each limit (as provided by Franka) with the max function, e.g.:
+print(robot.joint_jerk_limit.max)
+```
+
+#### Robot State
+
+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
+  additional state elements.
+* `current_cartesian_state`: Object of type `franky.CartesianState`, which contains the end-effector pose and velocity
+  obtained
+  from [franka::RobotState::O_T_EE](https://frankaemika.github.io/libfranka/structfranka_1_1RobotState.html#a193781d47722b32925e0ea7ac415f442)
+  and [franka::RobotState::O_dP_EE_c](https://frankaemika.github.io/libfranka/structfranka_1_1RobotState.html#a4be112bd1a9a7d777a67aea4a18a8dcc).
+* `current_joint_position`: Object of type `franky.JointState`, which contains the joint positions and velocities
+  obtained
+  from [franka::RobotState::q](https://frankaemika.github.io/libfranka/structfranka_1_1RobotState.html#ade3335d1ac2f6c44741a916d565f7091)
+  and [franka::RobotState::dq](https://frankaemika.github.io/libfranka/structfranka_1_1RobotState.html#a706045af1b176049e9e56df755325bd2).
+
+```python
+from franky import *
+
+robot = Robot("172.16.0.2")
+
+# Get the current state as `franky.RobotState`. See the documentation for a list of fields.
+state = robot.state
+
+# Get the robot's cartesian 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_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
+
+# Get the robot's joint state
+joint_state = robot.current_joint_state
+joint_pos = joint_state.position
+joint_vel = joint_state.velocity
+
+# Use the robot model to compute kinematics
+q = [-0.3, 0.1, 0.3, -1.4, 0.1, 1.8, 0.7]
+f_t_ee = Affine()
+ee_t_k = Affine()
+ee_pose_kin = robot.model.pose(Frame.EndEffector, q, f_t_ee, ee_t_k)
+
+# Get the jacobian of the current robot state
+jacobian = robot.model.body_jacobian(Frame.EndEffector, state)
+
+# Alternatively, just get the URDF as string and do the kinematics computation yourself (only for libfranka >= 0.15.0)
+urdf_model = robot.model_urdf
+```
+
+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.
+
+### <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**.
+Each of these control modes is invoked by passing the robot an appropriate _Motion_ object.
+
+In the following, we provide a brief example for each motion type implemented by Franky in Python.
+The C++ interface is generally analogous, though some variable and method names are different because we
+follow [PEP 8](https://peps.python.org/pep-0008/) naming conventions in Python
+and [Google naming conventions](https://google.github.io/styleguide/cppguide.html) in C++.
+
+All units are in $m$, $\frac{m}{s}$, $\textit{rad}$, or $\frac{\textit{rad}}{s}$.
+
+#### Joint Position Control
+
+```python
+from franky import *
+
+# A point-to-point motion in the joint space
+m_jp1 = JointMotion([-0.3, 0.1, 0.3, -1.4, 0.1, 1.8, 0.7])
+
+# A motion in joint space with multiple waypoints
+m_jp2 = JointWaypointMotion([
+    JointWaypoint([-0.3, 0.1, 0.3, -1.4, 0.1, 1.8, 0.7]),
+    JointWaypoint([0.0, 0.3, 0.3, -1.5, -0.2, 1.5, 0.8]),
+    JointWaypoint([0.1, 0.4, 0.3, -1.4, -0.3, 1.7, 0.9])
+])
+
+# Intermediate waypoints also permit to specify target velocities. The default target velocity is 0, meaning that the
+# robot will stop at every waypoint.
+m_jp3 = JointWaypointMotion([
+    JointWaypoint([-0.3, 0.1, 0.3, -1.4, 0.1, 1.8, 0.7]),
+    JointWaypoint(
+        JointState(
+            position=[0.0, 0.3, 0.3, -1.5, -0.2, 1.5, 0.8],
+            velocity=[0.1, 0.0, 0.0, 0.0, -0.0, 0.0, 0.0])),
+    JointWaypoint([0.1, 0.4, 0.3, -1.4, -0.3, 1.7, 0.9])
+])
+
+# Stop the robot in joint position control mode. The difference of JointStopMotion to other stop motions such as 
+# CartesianStopMotion is that # JointStopMotion # stops the robot in joint position control mode while 
+# CartesianStopMotion stops it in cartesian pose control mode. The difference becomes relevant when asynchronous move 
+# commands are being sent or reactions are being used(see below).
+m_jp4 = JointStopMotion()
+```
+
+#### Joint Velocity Control
+
+```python
+from franky import *
+
+# Accelerate to the given joint velocity and hold it. After 1000ms stop the robot again.
+m_jv1 = JointVelocityMotion([0.1, 0.3, -0.1, 0.0, 0.1, -0.2, 0.4], duration=Duration(1000))
+
+# Joint velocity motions also support waypoints. Unlike in joint position control, a joint velocity waypoint is a
+# target velocity to be reached. This particular example first accelerates the joints, holds the velocity for 1s, then
+# reverses direction for 2s, reverses direction again for 1s, and finally stops. It is important not to forget to stop
+# the robot at the end of such a sequence, as it will otherwise throw an error.
+m_jv2 = JointVelocityWaypointMotion([
+    JointVelocityWaypoint([0.1, 0.3, -0.1, 0.0, 0.1, -0.2, 0.4], hold_target_duration=Duration(1000)),
+    JointVelocityWaypoint([-0.1, -0.3, 0.1, -0.0, -0.1, 0.2, -0.4], hold_target_duration=Duration(2000)),
+    JointVelocityWaypoint([0.1, 0.3, -0.1, 0.0, 0.1, -0.2, 0.4], hold_target_duration=Duration(1000)),
+    JointVelocityWaypoint([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]),
+])
+
+# Stop the robot in joint velocity control mode.
+m_jv3 = JointVelocityStopMotion()
+```
+
+#### Cartesian Position Control
+
+```python
+import math
+from scipy.spatial.transform import Rotation
+from franky import *
+
+# Move to the given target pose
+quat = Rotation.from_euler("xyz", [0, 0, math.pi / 2]).as_quat()
+m_cp1 = CartesianMotion(Affine([0.4, -0.2, 0.3], quat))
+
+# With target elbow angle (otherwise, the Franka firmware will choose by itself)
+m_cp2 = CartesianMotion(RobotPose(Affine([0.4, -0.2, 0.3], quat), elbow_state=ElbowState(0.3)))
+
+# A linear motion in cartesian space relative to the initial position
+# (Note that this motion is relative both in position and orientation. Hence, when the robot's end-effector is oriented
+# differently, it will move in a different direction)
+m_cp3 = CartesianMotion(Affine([0.2, 0.0, 0.0]), ReferenceType.Relative)
+
+# Generalization of CartesianMotion that allows for multiple waypoints
+m_cp4 = CartesianWaypointMotion([
+    CartesianWaypoint(RobotPose(Affine([0.4, -0.2, 0.3], quat), elbow_state=ElbowState(0.3))),
+    # The following waypoint is relative to the prior one and 50% slower
+    CartesianWaypoint(Affine([0.2, 0.0, 0.0]), ReferenceType.Relative, RelativeDynamicsFactor(0.5, 1.0, 1.0))
+])
+
+# Cartesian waypoints also permit to specify target velocities
+m_cp5 = CartesianWaypointMotion([
+    CartesianWaypoint(Affine([0.5, -0.2, 0.3], quat)),
+    CartesianWaypoint(
+        CartesianState(
+            pose=Affine([0.4, -0.1, 0.3], quat),
+            velocity=Twist([-0.01, 0.01, 0.0]))),
+    CartesianWaypoint(Affine([0.3, 0.0, 0.3], quat))
+])
+
+# Stop the robot in cartesian position control mode.
+m_cp6 = CartesianStopMotion()
+```
+
+#### Cartesian Velocity Control
+
+```python
+from franky import *
+
+# A cartesian velocity motion with linear (first argument) and angular (second argument) components
+m_cv1 = CartesianVelocityMotion(Twist([0.2, -0.1, 0.1], [0.1, -0.1, 0.2]))
+
+# With target elbow velocity
+m_cv2 = CartesianVelocityMotion(RobotVelocity(Twist([0.2, -0.1, 0.1], [0.1, -0.1, 0.2]), elbow_velocity=-0.2))
+
+# Cartesian velocity motions also support multiple waypoints. Unlike in cartesian position control, a cartesian velocity
+# waypoint is a target velocity to be reached. This particular example first accelerates the end-effector, holds the 
+# velocity for 1s, then # reverses direction for 2s, reverses direction again for 1s, and finally stops. It is important
+# not to forget to stop # the robot at the end of such a sequence, as it will otherwise throw an error.
+m_cv4 = CartesianVelocityWaypointMotion([
+    CartesianVelocityWaypoint(Twist([0.2, -0.1, 0.1], [0.1, -0.1, 0.2]), hold_target_duration=Duration(1000)),
+    CartesianVelocityWaypoint(Twist([-0.2, 0.1, -0.1], [-0.1, 0.1, -0.2]), hold_target_duration=Duration(2000)),
+    CartesianVelocityWaypoint(Twist([0.2, -0.1, 0.1], [0.1, -0.1, 0.2]), hold_target_duration=Duration(1000)),
+    CartesianVelocityWaypoint(Twist()),
+])
+
+# Stop the robot in cartesian velocity control mode.
+m_cv6 = CartesianVelocityStopMotion()
+```
+
+#### Relative Dynamics Factors
+
+Every motion and waypoint type allows to adapt the dynamics (velocity, acceleration and jerk) by setting the respective
+`relative_dynamics_factor` parameter.
+This parameter can also be set for the robot globally as shown below or in the `robot.move` command.
+Crucially, relative dynamics factors on different layers (robot, move command, and motion) do not override each other
+but rather get multiplied.
+Hence, a relative dynamics factor on a motion can only reduce the dynamics of the robot and never increase them.
+
+There is one exception to this rule and that is if any layer sets the relative dynamics factor to
+`RelativeDynamicsFactor.MAX_DYNAMICS`.
+This will cause the motion to be executed with maximum velocity, acceleration, and jerk limits, independently of the
+relative dynamics factors of the other layers.
+This feature should only be used to abruptly stop the robot in case of an unexpected environment contact as executing
+other motions with it is likely to lead to a discontinuity error and might be dangerous.
+
+#### Executing Motions
+
+The real robot can be moved by applying a motion to the robot using `move`:
+
+```python
+# Before moving the robot, set an appropriate dynamics factor. We start small:
+robot.relative_dynamics_factor = 0.05
+# or alternatively, to control the scaling of velocity, acceleration, and jerk limits separately:
+robot.relative_dynamics_factor = RelativeDynamicsFactor(0.05, 0.1, 0.15)
+# If these values are set too high, you will see discontinuity errors
+
+robot.move(m_jp1)
+
+# We can also set a relative dynamics factor in the move command. It will be multiplied with the other relative 
+# dynamics factors (robot and motion if present).
+robot.move(m_jp2, relative_dynamics_factor=0.8)
+```
+
+#### Motion Callbacks
+
+All motions support callbacks, which will be invoked in every control step at 1kHz.
+Callbacks can be attached as follows:
+
+```python
+def cb(
+        robot_state: RobotState,
+        time_step: Duration,
+        rel_time: Duration,
+        abs_time: Duration,
+        control_signal: JointPositions):
+    print(f"At time {abs_time}, the target joint positions were {control_signal.q}")
+
+
+m_jp1.register_callback(cb)
+robot.move(m_jp1)
+```
+
+Note that in Python, these callbacks are not executed in the control thread since they would otherwise block it.
+Instead, they are put in a queue and executed by another thread.
+While this scheme ensures that the control thread can always run, it cannot prevent that the queue grows indefinitely
+when the callbacks take more time to execute than it takes for new callbacks to be queued.
+Hence, callbacks might be executed significantly after they were queued if they take a long time to execute.
+
+### ⚡ Real-Time Reactions
+
+By adding reactions to the motion data, the robot can react to unforeseen events.
+In the Python API, you can define conditions by using a comparison between a robot's value and a given threshold.
+If the threshold is exceeded, the reaction fires.
+
+```python
+from franky import CartesianMotion, Affine, ReferenceType, Measure, Reaction
+
+motion = CartesianMotion(Affine([0.0, 0.0, 0.1]), ReferenceType.Relative)  # Move down 10cm
+
+# It is important that the reaction motion uses the same control mode as the original motion. Hence, we cannot register
+# a JointMotion as a reaction motion to a CartesianMotion.
+reaction_motion = CartesianMotion(Affine([0.0, 0.0, 0.01]), ReferenceType.Relative)  # Move up for 1cm
+
+# Trigger reaction if the Z force is greater than 30N
+reaction = Reaction(Measure.FORCE_Z > 30.0, reaction_motion)
+motion.add_reaction(reaction)
+
+robot.move(motion)
+```
+
+Possible values to measure are
+
+* `Measure.FORCE_X,` `Measure.FORCE_Y,` `Measure.FORCE_Z`: Force in X, Y and Z direction
+* `Measure.REL_TIME`: Time in seconds since the current motion started
+* `Measure.ABS_TIME`: Time in seconds since the initial motion started
+
+The difference between `Measure.REL_TIME` and `Measure.ABS_TIME` is that `Measure.REL_TIME` is reset to zero whenever a
+new motion starts (either by calling `Robot.move` or as a result of a triggered `Reaction`).
+`Measure.ABS_TIME`, on the other hand, is only reset to zero when a motion terminates regularly without being
+interrupted and the robot stops moving.
+Hence, `Measure.ABS_TIME` measures the total time in which the robot has moved without interruption.
+
+`Measure` values support all classical arithmetic operations, like addition, subtraction, multiplication, division, and
+exponentiation (both as base and exponent).
+
+```python
+normal_force = (Measure.FORCE_X ** 2 + Measure.FORCE_Y ** 2 + Measure.FORCE_Z ** 2) ** 0.5
+```
+
+With arithmetic comparisons, conditions can be generated.
+
+```python
+normal_force_within_bounds = normal_force < 30.0
+time_up = Measure.ABS_TIME > 10.0
+```
+
+Conditions support negation, conjunction (and), and disjunction (or):
+
+```python
+abort = ~normal_force_within_bounds | time_up
+fast_abort = ~normal_force_within_bounds | time_up
+```
+
+To check whether a reaction has fired, a callback can be attached:
+
+```python
+from franky import RobotState
+
+
+def reaction_callback(robot_state: RobotState, rel_time: float, abs_time: float):
+    print(f"Reaction fired at {abs_time}.")
+
+
+reaction.register_callback(reaction_callback)
+```
+
+Similar to the motion callbacks, in Python, reaction callbacks are not executed in real-time but in a regular thread
+with lower priority to ensure that the control thread does not get blocked.
+Thus, the callbacks might fire substantially after the reaction has fired, depending on the time it takes to execute
+them.
+
+In C++ you can additionally use lambdas to define more complex behaviours:
+
+```c++
+auto motion = CartesianMotion(RobotPose(Affine({0.0, 0.0, 0.2}), 0.0), ReferenceType::Relative);
+
+// Stop motion if force is over 10N
+auto stop_motion = StopMotion<franka::CartesianPose>()
+
+motion
+  .addReaction(
+    Reaction(
+      Measure::ForceZ() > 10.0,  // [N],
+      stop_motion))
+  .addReaction(
+    Reaction(
+      Condition(
+        [](const franka::RobotState& state, double rel_time, double abs_time) {
+          // Lambda condition
+          return state.current_errors.self_collision_avoidance_violation;
+        }),
+      [](const franka::RobotState& state, double rel_time, double abs_time) {
+        // Lambda reaction motion generator
+        // (we are just returning a stop motion, but there could be arbitrary 
+        // logic here for generating reaction motions)
+        return StopMotion<franka::CartesianPose>();
+      })
+    ));
+
+robot.move(motion)
+```
+
+###  <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.
+Instead, it returns immediately and, thus, allows the main thread to set new motions asynchronously.
+
+```python
+import time
+from franky import Affine, CartesianMotion, Robot, ReferenceType
+
+robot = Robot("172.16.0.2")
+robot.relative_dynamics_factor = 0.05
+
+motion1 = CartesianMotion(Affine([0.2, 0.0, 0.0]), ReferenceType.Relative)
+robot.move(motion1, asynchronous=True)
+
+time.sleep(0.5)
+# Note that similar to reactions, when preempting active motions with new motions, the control mode cannot change.
+# Hence, we cannot use, e.g., a JointMotion here.
+motion2 = CartesianMotion(Affine([0.2, 0.0, 0.0]), ReferenceType.Relative)
+robot.move(motion2, asynchronous=True)
+```
+
+By calling `Robot.join_motion` the main thread can be synchronized with the motion thread, as it will block until the
+robot finishes its motion.
+
+```python
+robot.join_motion()
+```
+
+Note that when exceptions occur during the asynchronous execution of a motion, they will not be thrown immediately.
+Instead, the control thread stores the exception and terminates.
+The next time `Robot.join_motion` or `Robot.move` are called, they will throw the stored exception in the main thread.
+Hence, after an asynchronous motion has finished, make sure to call `Robot.join_motion` to ensure being notified of any
+exceptions that occurred during the motion.
+
+### Gripper
+
+In the `franky::Gripper` class, the default gripper force and gripper speed can be set.
+Then, additionally to the libfranka commands, the following helper methods can be used:
+
+```c++
+#include <franky.hpp>
+#include <chrono>
+#include <future>
+
+auto gripper = franky::Gripper("172.16.0.2");
+
+double speed = 0.02; // [m/s]
+double force = 20.0; // [N]
+
+// Move the fingers to a specific width (5cm)
+bool success = gripper.move(0.05, speed);
+
+// Grasp an object of unknown width
+success &= gripper.grasp(0.0, speed, force, epsilon_outer=1.0);
+
+// Get the width of the grasped object
+double width = gripper.width();
+
+// Release the object
+gripper.open(speed);
+
+// There are also asynchronous versions of the methods
+std::future<bool> success_future = gripper.moveAsync(0.05, speed);
+
+// Wait for 1s
+if (!success_future.wait_for(std::chrono::seconds(1)) == std::future_status::ready) {
+  // Get the result
+  std::cout << "Success: " << success_future.get() << std::endl;
+} else {
+  gripper.stop();
+  success_future.wait();
+  std::cout << "Gripper motion timed out." << std::endl;
+}
+```
+
+The Python API follows the c++ API closely:
+
+```python
+import franky
+
+gripper = franky.Gripper("172.16.0.2")
+
+speed = 0.02  # [m/s]
+force = 20.0  # [N]
+
+# Move the fingers to a specific width (5cm)
+success = gripper.move(0.05, speed)
+
+# Grasp an object of unknown width
+success &= gripper.grasp(0.0, speed, force, epsilon_outer=1.0)
+
+# Get the width of the grasped object
+width = gripper.width
+
+# Release the object
+gripper.open(speed)
+
+# There are also asynchronous versions of the methods
+success_future = gripper.move_async(0.05, speed)
+
+# Wait for 1s
+if success_future.wait(1):
+    print(f"Success: {success_future.get()}")
+else:
+    gripper.stop()
+    success_future.wait()
+    print("Gripper motion timed out.")
+```
+
+## 🛠️ Development
+
+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)
+
+## 📜 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
+agreements.
+
+## 🔍 Differences to frankx
+
+Franky started originally as a fork of [frankx](https://github.com/pantor/frankx), though both codebase and
+functionality differ substantially from frankx by now.
+Aside of bug fixes and general performance improvements, Franky provides the following new features/improvements:
+
+* [Motions can be updated asynchronously.](#-real-time-motions)
+* [Reactions allow for the registration of callbacks instead of just printing to stdout when fired.](#-real-time-reactions)
+* [Motions allow for the registration of callbacks for profiling.](#motion-callbacks)
+* [The robot state is also available during control.](#robot-state)
+* A larger part of the libfranka API is exposed to python (e.g.,`setCollisionBehavior`, `setJoinImpedance`, and
+  `setCartesianImpedance`).
+* Cartesian motion generation handles boundaries in Euler angles properly.
+* [There is a new joint motion type that supports waypoints.](#-motion-types)
+* [The signature of `Affine` changed.](#-geometry) `Affine` does not handle elbow positions anymore.
+  Instead, a new class `RobotPose` stores both the end-effector pose and optionally the elbow position.
+* The `MotionData` class does not exist anymore.
+  Instead, reactions and other settings moved to `Motion`.
+* [The `Measure` class allows for arithmetic operations.](#-real-time-reactions)
+* Exceptions caused by libfranka are raised properly instead of being printed to stdout.
+* [We provide wheels for both Franka Research 3 and the older Franka Panda](#-setup)
+* Franky supports [joint velocity control](#joint-velocity-control)
+  and [cartesian velocity control](#cartesian-velocity-control)
+* The dynamics limits are not hard-coded anymore but can be [set for each robot instance](#-robot).