FrankaMover

The FrankaMover class provides a high-level interface for controlling the Franka Emika Panda robot with built-in safety features and convenient methods for common robotic tasks.

class moveit2_sdk_python.franka_mover.FrankaMover[source]

Bases: object

Initialize the FrankaMover class.

This constructor initializes the Moveit2Python API, creates a ROS 2 node, sets up a reentrant callback group and a multi-threaded executor. It also creates an action client for the Franka gripper. Finally, it starts a thread to spin the ROS 2 node.

__init__() → None[source]

Initialize the FrankaMover class.

This constructor initializes the Moveit2Python API, creates a ROS 2 node, sets up a reentrant callback group and a multi-threaded executor. It also creates an action client for the Franka gripper. Finally, it starts a thread to spin the ROS 2 node.

__del__()[source]

Clean up resources when the FrankaMover object is deleted.

This method shuts down the ROS 2 node, joins the node spinning thread, destroys the node, and attempts to shut down RCLPY.

spin_node()[source]

Spin the ROS 2 node to process callbacks.

This method checks if RCLPY is initialized, initializes it if not, and then spins the node using the configured executor. This method is typically run in a separate thread.

async pour(x: float, y: float, z: float)[source]

Execute a pouring motion.

Parameters:

  • x (float) – The x-coordinate of the pouring position.

  • y (float) – The y-coordinate of the pouring position.

  • z (float) – The z-coordinate of the pouring position.

Returns:

The result of the trajectory execution.

Return type:

any

async move(x: float, y: float, z: float)[source]

Move the robot to a specified Cartesian coordinate.

The robot first moves to a position 0.1m above the target and then moves to the target position.

Parameters:

  • x (float) – The target x-coordinate.

  • y (float) – The target y-coordinate.

  • z (float) – The target z-coordinate.

Returns:

The result of the trajectory execution.

Return type:

any

async home()[source]

Move the robot to its home position.

The home position is defined by a set of joint angles.

Returns:

The result of the move_group command.

Return type:

any

async grasp()[source]

Execute a grasp action using the Franka gripper.

This method sends a goal to the grasp action server with predefined width, force, speed, and epsilon values.

Returns:

The result of the grasp action.

Return type:

any