Index

_

__init__() (aiofranka.async_utils.CudaInferenceThread method) (aiofranka.async_utils.ProcessProxy method) (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.franka.Robot method) (aiofranka.gripper.GripperController method) (aiofranka.native.ControlLaw method) (aiofranka.native.NativeFrankaController method) (aiofranka.native.Recording method) (aiofranka.payload.PayloadEstimate method) (aiofranka.remote.FrankaRemoteController method) (aiofranka.remote.ServerDiedError method) (aiofranka.robot.RobotInterface method) (aiofranka.server_native.NativeServerController method) (aiofranka.tools.Tool method)

A

activate() (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.native.NativeFrankaController method) active (aiofranka.tools.Tool attribute), [1] active_tool() (in module aiofranka.tools) add_recording() (in module aiofranka.config) aiofranka.async_utils module aiofranka.config module aiofranka.controller module aiofranka.franka module aiofranka.gripper module

aiofranka.native module aiofranka.payload module aiofranka.remote module aiofranka.robot module aiofranka.server_native module aiofranka.tools module async_input() (in module aiofranka.async_utils) asyncify() (in module aiofranka.async_utils)

B

bias (aiofranka.payload.PayloadEstimate attribute), [1]

C

check_tool() (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) clip (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController property) close() (aiofranka.franka.Robot method) (aiofranka.gripper.GripperController method) com (aiofranka.payload.PayloadEstimate attribute), [1] (aiofranka.tools.Tool attribute), [1] com_std (aiofranka.payload.PayloadEstimate attribute), [1]

condition (aiofranka.payload.PayloadEstimate attribute), [1] control_law() (in module aiofranka.native) control_transform (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController attribute) ControlLaw (class in aiofranka.native) controller (aiofranka.franka.Robot property) Controller (class in aiofranka.franka) CudaInferenceThread (class in aiofranka.async_utils) current_position (aiofranka.gripper.GripperController property)

D

data (aiofranka.robot.RobotInterface attribute) data() (aiofranka.native.Recording method)

device (aiofranka.tools.Tool attribute), [1] dropped (aiofranka.native.Recording property)

E

ee_desired (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController attribute) (aiofranka.remote.FrankaRemoteController property) ee_kd (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController attribute)

ee_kp (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController attribute) error (aiofranka.franka.Controller property) error_integral (aiofranka.native.NativeFrankaController property)

F

fields (aiofranka.native.Recording attribute) fit_payload() (in module aiofranka.payload) force (aiofranka.gripper.GripperController property)

FrankaController (class in aiofranka.controller) FrankaRemoteController (class in aiofranka.remote) FrankaRemoteControllerNative (class in aiofranka.remote) function (aiofranka.native.ControlLaw attribute)

G

GripperController (class in aiofranka.gripper)

I

id (aiofranka.tools.Tool attribute), [1] identify_payload() (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (in module aiofranka.payload) inertia (aiofranka.tools.Tool attribute), [1] initial_ee (aiofranka.remote.FrankaRemoteController property)

initial_qpos (aiofranka.native.NativeFrankaController attribute) (aiofranka.remote.FrankaRemoteController property) initialize() (aiofranka.controller.FrankaController method) (aiofranka.native.NativeFrankaController method) (aiofranka.remote.FrankaRemoteController method) ip (aiofranka.franka.Robot property)

K

kd (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController attribute)

ki (aiofranka.native.NativeFrankaController attribute) kp (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController attribute)

L

last_command (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController property) latest_recording() (in module aiofranka.config) law_memory (aiofranka.native.NativeFrankaController property) link_inertial() (in module aiofranka.robot) list_tools() (in module aiofranka.tools)

load (aiofranka.franka.Robot property) load_config() (in module aiofranka.config) load_native() (in module aiofranka.native) load_tool() (in module aiofranka.tools) lock() (in module aiofranka.server) loop_stats() (aiofranka.franka.Controller method) (aiofranka.native.NativeFrankaController method)

M

mass (aiofranka.payload.PayloadEstimate attribute), [1] (aiofranka.tools.Tool attribute), [1] mass_std (aiofranka.payload.PayloadEstimate attribute), [1] memory (aiofranka.native.ControlLaw attribute) merge_payload() (in module aiofranka.robot) model (aiofranka.franka.Robot property) (aiofranka.robot.RobotInterface attribute) module aiofranka.async_utils aiofranka.config aiofranka.controller aiofranka.franka aiofranka.gripper aiofranka.native aiofranka.payload aiofranka.remote aiofranka.robot aiofranka.server_native aiofranka.tools

move() (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.native.NativeFrankaController method) (aiofranka.remote.FrankaRemoteController method) mpify() (in module aiofranka.async_utils)

N

name (aiofranka.native.ControlLaw attribute) (aiofranka.tools.Tool attribute), [1] NativeFrankaController (class in aiofranka.native) NativeServerController (class in aiofranka.server_native)

null_kd (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController attribute) null_kp (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController attribute)

O

open() (aiofranka.gripper.GripperController method)

P

params (aiofranka.native.ControlLaw attribute) path (aiofranka.native.Recording attribute) payload (aiofranka.franka.Robot property) payload_regressor() (in module aiofranka.payload)

PayloadEstimate (class in aiofranka.payload) position (aiofranka.gripper.GripperController property) previous (aiofranka.payload.PayloadEstimate attribute), [1] ProcessProxy (class in aiofranka.async_utils)

Q

q_desired (aiofranka.controller.FrankaController attribute) (aiofranka.gripper.GripperController property) (aiofranka.native.NativeFrankaController attribute) (aiofranka.remote.FrankaRemoteController property)

qpos (aiofranka.gripper.GripperController property) (aiofranka.payload.PayloadEstimate attribute), [1]

R

real (aiofranka.franka.Robot property) (aiofranka.robot.RobotInterface attribute) realtime_cpu (aiofranka.native.NativeFrankaController attribute) realtime_priority (aiofranka.native.NativeFrankaController attribute) record() (aiofranka.franka.Controller method) (aiofranka.native.NativeFrankaController method) recording (aiofranka.native.Recording property) Recording (class in aiofranka.native) register_law() (aiofranka.franka.Controller method) (aiofranka.native.NativeFrankaController method) remove_tool() (in module aiofranka.tools) require_pylibfranka() (in module aiofranka.robot) residuals (aiofranka.payload.PayloadEstimate attribute), [1] rms_after (aiofranka.payload.PayloadEstimate attribute), [1]

rms_before (aiofranka.payload.PayloadEstimate attribute), [1] robot (aiofranka.controller.FrankaController attribute) (aiofranka.robot.RobotInterface attribute) Robot (class in aiofranka.franka) robot_state (aiofranka.franka.Robot property) RobotInterface (class in aiofranka.robot) rotation (aiofranka.tools.Tool attribute), [1] rows (aiofranka.native.Recording property) run() (aiofranka.async_utils.CudaInferenceThread method) running (aiofranka.controller.FrankaController attribute) (aiofranka.franka.Controller property) (aiofranka.gripper.GripperController attribute) (aiofranka.native.NativeFrankaController property) (aiofranka.remote.FrankaRemoteController property)

S

same_controller() (in module aiofranka.config) save() (aiofranka.native.Recording method) save_sim() (in module aiofranka.config) save_tool() (in module aiofranka.tools) server_error (aiofranka.remote.ServerDiedError attribute) ServerDiedError set() (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.gripper.GripperController method) (aiofranka.remote.FrankaRemoteController method) set_configuration() (in module aiofranka.server) set_freq() (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.gripper.GripperController method) (aiofranka.remote.FrankaRemoteController method) set_load() (aiofranka.franka.Robot method) (aiofranka.robot.RobotInterface method) set_macos_control_thread_qos() (in module aiofranka.robot) set_tcp() (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.native.NativeFrankaController method) sim_entry() (in module aiofranka.config) site_id (aiofranka.robot.RobotInterface attribute) site_name (aiofranka.robot.RobotInterface attribute) speed (aiofranka.gripper.GripperController property) start() (aiofranka.async_utils.CudaInferenceThread method) (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.gripper.GripperController method) (aiofranka.native.NativeFrankaController method) (aiofranka.remote.FrankaRemoteController method) (aiofranka.robot.RobotInterface method) (aiofranka.server_native.NativeServerController method) (in module aiofranka.server)

state (aiofranka.controller.FrankaController attribute) (aiofranka.franka.Robot property) (aiofranka.gripper.GripperController property) (aiofranka.native.NativeFrankaController property) (aiofranka.remote.FrankaRemoteController property) (aiofranka.robot.RobotInterface property) state_minimal (aiofranka.robot.RobotInterface property) step() (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.native.NativeFrankaController method) (aiofranka.robot.RobotInterface method) stop() (aiofranka.async_utils.CudaInferenceThread method) (aiofranka.async_utils.ProcessProxy method) (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.gripper.GripperController method) (aiofranka.native.Recording method) (aiofranka.remote.FrankaRemoteController method) (aiofranka.robot.RobotInterface method) (in module aiofranka.server) switch() (aiofranka.controller.FrankaController method) (aiofranka.franka.Controller method) (aiofranka.native.NativeFrankaController method) (aiofranka.remote.FrankaRemoteController method) sync_mj() (aiofranka.robot.RobotInterface method) sync_payload() (aiofranka.robot.RobotInterface method)

T

tcp_transform() (in module aiofranka.config) test_connection() (aiofranka.controller.FrankaController method) to_yaml() (in module aiofranka.config) tool (aiofranka.franka.Robot property) Tool (class in aiofranka.tools) torque (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController property) (aiofranka.remote.FrankaRemoteController property)

torque_controller (aiofranka.robot.RobotInterface attribute) torque_diff_limit (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController property) torque_limit (aiofranka.native.NativeFrankaController attribute) translation (aiofranka.tools.Tool attribute), [1] type (aiofranka.controller.FrankaController attribute) (aiofranka.native.NativeFrankaController property)

U

unload_tool() (in module aiofranka.tools)

unlock() (in module aiofranka.server)

V

viewer (aiofranka.robot.RobotInterface attribute)

W

wait_until_reached() (aiofranka.gripper.GripperController method)

wrap() (aiofranka.async_utils.CudaInferenceThread method)