pylibfranka 0.20.2__tar.gz

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+ libfranka
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+
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+ Copyright 2023 Franka Robotics GmbH
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+
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+ Licensed under the Apache License, Version 2.0 (the "License");
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+ you may not use this file except in compliance with the License.
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+ You may obtain a copy of the License at
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+
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+ http://www.apache.org/licenses/LICENSE-2.0
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+
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+ Unless required by applicable law or agreed to in writing, software
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+ distributed under the License is distributed on an "AS IS" BASIS,
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+ See the License for the specific language governing permissions and
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+ limitations under the License.
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+ Metadata-Version: 2.4
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+ Name: pylibfranka
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+ Version: 0.20.2
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+ Summary: Python bindings for libfranka - Control Franka robots with Python
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+ Author-email: Franka Robotics GmbH <info@franka.de>
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+ License: Apache-2.0
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+ Project-URL: Homepage, https://github.com/frankarobotics/libfranka
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+ Project-URL: Documentation, https://frankarobotics.github.io/libfranka/pylibfranka/latest
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+ Project-URL: Repository, https://github.com/frankarobotics/libfranka
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+ Project-URL: Issues, https://github.com/frankarobotics/libfranka/issues
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+ Project-URL: Changelog, https://github.com/frankarobotics/libfranka/blob/main/CHANGELOG.md
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+ Classifier: Development Status :: 4 - Beta
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+ Classifier: Intended Audience :: Developers
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+ Classifier: Intended Audience :: Science/Research
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+ Classifier: License :: OSI Approved :: Apache Software License
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+ Classifier: Operating System :: POSIX :: Linux
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+ Classifier: Programming Language :: Python :: 3
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+ Classifier: Programming Language :: Python :: 3.9
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+ Classifier: Programming Language :: Python :: 3.10
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+ Classifier: Programming Language :: Python :: 3.11
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+ Classifier: Programming Language :: Python :: 3.12
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+ Classifier: Programming Language :: C++
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+ Classifier: Topic :: Software Development :: Libraries :: Python Modules
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+ Requires-Python: >=3.9
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+ Description-Content-Type: text/markdown
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+ License-File: LICENSE
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+ License-File: NOTICE
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+ Requires-Dist: numpy>=1.19.0
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+ Provides-Extra: dev
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+ Requires-Dist: pre-commit>=3.3.2; extra == "dev"
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+ Requires-Dist: black>=23.3.0; extra == "dev"
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+ Requires-Dist: isort>=5.12.0; extra == "dev"
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+ Requires-Dist: flake8>=6.0.0; extra == "dev"
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+ Requires-Dist: flake8-docstrings>=1.7.0; extra == "dev"
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+ Requires-Dist: mypy>=1.3.0; extra == "dev"
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+ Requires-Dist: pytest>=7.3.1; extra == "dev"
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+ Dynamic: license-file
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+ Dynamic: requires-python
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+
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+ # pylibfranka Installation and Usage Guide
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+
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+ This document provides comprehensive instructions for installing and using pylibfranka, a Python binding for libfranka that enables control of Franka Robotics robots.
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+
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+ ## Table of Contents
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+ - [Installation](#installation)
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+ - [From PyPI (Recommended)](#from-pypi-recommended)
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+ - [From Source](#from-source)
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+ - [Examples](#examples)
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+ - [Joint Position Example](#joint-position-example)
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+ - [Print Robot State Example](#print-robot-state-example)
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+ - [Joint Impedance Control Example](#joint-impedance-control-example)
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+ - [Gripper Control Example](#gripper-control-example)
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+ - [Troubleshooting](#troubleshooting)
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+
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+ ## Installation
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+
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+ ### From PyPI (Recommended)
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+
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+ The easiest way to install pylibfranka is via pip. Pre-built wheels include all necessary dependencies.
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+
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+ ```bash
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+ pip install pylibfranka
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+ ```
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+
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+ #### Platform Compatibility
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+
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+ | Ubuntu Version | Supported Python Versions |
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+ |----------------|---------------------------|
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+ | 20.04 (Focal) | Python 3.9 only |
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+ | 22.04 (Jammy) | Python 3.9, 3.10, 3.11, 3.12 |
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+ | 24.04 (Noble) | Python 3.9, 3.10, 3.11, 3.12 |
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+
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+ **Note:** Ubuntu 20.04 users must use Python 3.9 due to glibc compatibility requirements.
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+
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+ ### From Source
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+
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+ If you need to build from source (e.g., for development or unsupported platforms):
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+
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+ #### Prerequisites
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+
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+ - Python 3.9 or newer
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+ - CMake 3.16 or newer
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+ - C++ compiler with C++17 support
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+ - Eigen3 development headers
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+ - Poco development headers
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+
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+ **Disclaimer: If you are using the provided devcontainer, you can skip the prerequisites installation as they are already included in the container.**
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+
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+ #### Installing Prerequisites on Ubuntu/Debian
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+
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+ ```bash
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+ sudo apt-get update
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+ sudo apt-get install -y build-essential cmake libeigen3-dev libpoco-dev python3-dev
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+ ```
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+
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+ #### Build and Install
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+
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+ From the root folder, you can install `pylibfranka` using pip:
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+
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+ ```bash
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+ pip install .
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+ ```
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+
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+ This will install pylibfranka in your current Python environment.
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+
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+ ## Examples
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+
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+ pylibfranka comes with three example scripts that demonstrate how to use the library to control a Franka robot.
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+
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+ ### Joint Position Example
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+
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+ This example demonstrates how to use an external control loop with pylibfranka to move the robot joints.
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+
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+ To run the example:
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+
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+ ```bash
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+ cd examples
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+ python3 joint_position_example.py --ip <robot_ip>
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+ ```
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+
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+ Where `<robot_ip>` is the IP address of your Franka robot. If not specified, it defaults to "localhost".
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+
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+ The active control example:
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+ - Sets collision behavior parameters
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+ - Starts joint position control with CartesianImpedance controller mode
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+ - Moves the robot using an external control loop
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+ - Performs a simple motion of selected joints
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+
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+ ### Print Robot State Example
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+
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+ This example shows how to read and display the complete state of the robot.
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+
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+ To run the example:
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+
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+ ```bash
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+ cd examples
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+ python3 print_robot_state.py --ip <robot_ip> [--rate <rate>] [--count <count>]
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+ ```
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+
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+ Where:
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+ - `--ip` is the robot's IP address (defaults to "localhost")
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+ - `--rate` is the frequency at which to print the state in Hz (defaults to 0.5)
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+ - `--count` is the number of state readings to print (defaults to 1, use 0 for continuous)
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+
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+ The print robot state example:
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+ - Connects to the robot
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+ - Reads the complete robot state
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+ - Prints detailed information about:
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+ - Joint positions, velocities, and torques
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+ - End effector pose and velocities
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+ - External forces and torques
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+ - Robot mode and error states
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+ - Mass and inertia properties
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+
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+ ### Joint Impedance Control Example
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+
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+ This example demonstrates how to implement a joint impedance controller that renders a spring-damper system to move the robot through a sequence of target joint configurations.
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+
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+ To run the example:
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+
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+ ```bash
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+ cd examples
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+ python3 joint_impedance_example.py --ip <robot_ip>
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+ ```
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+
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+ Where `--ip` is the robot's IP address (defaults to "localhost").
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+
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+ The joint impedance example:
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+ - Implements a minimum jerk trajectory generator for smooth joint motion
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+ - Uses a spring-damper system for compliant control
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+ - Moves through a sequence of predefined joint configurations:
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+ - Home position (slightly bent arm)
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+ - Extended arm pointing forward
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+ - Arm pointing to the right
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+ - Arm pointing to the left
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+ - Return to home position
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+ - Includes position holding with dwell time between movements
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+ - Compensates for Coriolis effects
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+
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+ ### And more control examples
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+
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+ There are more control examples to discover. All of them can be executed in a similar way:
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+
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+ ```bash
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+ cd examples
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+ python3 other_example.py --ip <robot_ip>
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+ ```
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+
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+ ### Gripper Control Example
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+
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+ This example demonstrates how to control the Franka gripper, including homing, grasping, and reading gripper state.
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+
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+ To run the example:
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+
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+ ```bash
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+ cd examples
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+ python3 move_gripper.py --robot_ip <robot_ip> [--width <width>] [--homing <0|1>] [--speed <speed>] [--force <force>]
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+ ```
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+
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+ Where:
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+ - `--robot_ip` is the robot's IP address (required)
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+ - `--width` is the object width to grasp in meters (defaults to 0.005)
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+ - `--homing` enables/disables gripper homing (0 or 1, defaults to 1)
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+ - `--speed` is the gripper speed (defaults to 0.1)
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+ - `--force` is the gripper force in N (defaults to 60)
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+
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+ The gripper example:
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+ - Connects to the gripper
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+ - Performs homing to estimate maximum grasping width
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+ - Reads and displays gripper state including:
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+ - Current width
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+ - Maximum width
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+ - Grasp status
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+ - Temperature
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+ - Timestamp
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+ - Attempts to grasp an object with specified parameters
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+ - Verifies successful grasping
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+ - Releases the object
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+
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+ ### Async Joint Position Control Example
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+
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+ You can also use the async API to control the robot in a low-rate fashion, e.g. 50Hz.
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+ This allows you to specify joint position setpoints without the need for a blocking loop.
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+
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+ ```bash
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+ cd examples
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+ python3 async_position_control.py --ip <robot_ip>
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+ ```
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+