Quick Start

This guide will help you get started with libfrankapy quickly.

Basic Setup

First, make sure you have libfrankapy installed and your Franka robot is properly configured.

Connecting to the Robot

import libfrankapy as fp

# Create robot instance
robot = fp.FrankaRobot("192.168.1.100")  # Replace with your robot's IP

# Connect to the robot
robot.connect()

# Start control mode
robot.start_control()

Basic Robot Control

Getting Robot State

# Get current robot state
state = robot.get_robot_state()

print(f"Joint positions: {state.joint_state.positions}")
print(f"End-effector pose: {state.cartesian_state.pose}")
print(f"Forces: {state.cartesian_state.forces}")

Joint Space Movement

# Define target joint positions (7 joints)
target_joints = [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]

# Move to target position
robot.move_to_joint(target_joints, speed_factor=0.1)

Cartesian Space Movement

import numpy as np

# Get current pose
current_pose = robot.get_robot_state().cartesian_state.pose

# Move 10cm in Z direction
target_pose = current_pose.copy()
target_pose[2, 3] += 0.1  # Z translation

robot.move_to_pose(target_pose, speed_factor=0.1)

Trajectory Control

# Define waypoints
waypoints = [
    [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785],
    [0.1, -0.685, 0.1, -2.256, 0.1, 1.671, 0.885],
    [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]
]

# Execute trajectory
robot.execute_joint_trajectory(waypoints, duration=5.0)

Safety and Error Handling

Always use proper error handling:

import libfrankapy as fp

robot = fp.FrankaRobot("192.168.1.100")

try:
    robot.connect()
    robot.start_control()
    
    # Your robot control code here
    target_joints = [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]
    robot.move_to_joint(target_joints, speed_factor=0.1)
    
except fp.FrankaException as e:
    print(f"Robot error: {e}")
    robot.recover_from_errors()
    
except Exception as e:
    print(f"General error: {e}")
    
finally:
    # Always disconnect properly
    robot.stop_control()
    robot.disconnect()

Complete Example

Here's a complete example that demonstrates basic robot control:

#!/usr/bin/env python3

import libfrankapy as fp
import numpy as np
import time

def main():
    # Robot configuration
    robot_ip = "192.168.1.100"
    
    # Create robot instance
    robot = fp.FrankaRobot(robot_ip)
    
    try:
        # Connect and start control
        print("Connecting to robot...")
        robot.connect()
        robot.start_control()
        print("Connected successfully!")
        
        # Get initial state
        initial_state = robot.get_robot_state()
        print(f"Initial joint positions: {initial_state.joint_state.positions}")
        
        # Move to home position
        home_joints = [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]
        print("Moving to home position...")
        robot.move_to_joint(home_joints, speed_factor=0.1)
        
        # Wait a moment
        time.sleep(1.0)
        
        # Move in Cartesian space
        print("Moving in Cartesian space...")
        current_pose = robot.get_robot_state().cartesian_state.pose
        
        # Move up 5cm
        target_pose = current_pose.copy()
        target_pose[2, 3] += 0.05
        robot.move_to_pose(target_pose, speed_factor=0.1)
        
        # Move back down
        robot.move_to_pose(current_pose, speed_factor=0.1)
        
        print("Demo completed successfully!")
        
    except fp.FrankaException as e:
        print(f"Robot error: {e}")
        robot.recover_from_errors()
        
    except Exception as e:
        print(f"Error: {e}")
        
    finally:
        # Clean shutdown
        print("Disconnecting...")
        robot.stop_control()
        robot.disconnect()
        print("Disconnected.")

if __name__ == "__main__":
    main()

Next Steps

• Check out the examples for more advanced usage
• Read the Robot API documentation for complete API reference
• Learn about installation options
• Explore architecture for understanding the internals