├── .ci ├── Dockerfile.focal ├── checkgithistory.sh ├── coverage.sh ├── debug.sh ├── libonly.sh ├── lint.sh ├── pinocchio.patch ├── release.sh └── urdfdom.patch ├── .clang-format ├── .clang-tidy ├── .devcontainer ├── devcontainer.json └── docker-compose.yml ├── .github └── workflows │ ├── doxygen.yml │ ├── libfranka-build.yml │ └── pylibfranka-docs.yml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── CMakeLists.txt ├── Jenkinsfile ├── LICENSE ├── NOTICE ├── README.rst ├── cmake ├── FetchFMT.cmake ├── FindEigen3.cmake ├── FindPoco.cmake ├── FindTinyXML2.cmake ├── FrankaConfig.cmake.in ├── SetVersionFromGit.cmake └── SetupGoogleTest.cmake ├── codecov.yml ├── doc ├── CMakeLists.txt ├── Doxyfile.in ├── Logo_FRANKA_ROBOTICS_dark.png └── main.md ├── docs ├── api_references.rst ├── assets │ ├── FrankaUI_Settings_Bar.png │ ├── FrankaUI_Settings_Network.png │ ├── FrankaUI_System_ActivateFCI.png │ ├── FrankaUI_System_ActivateFCI_Confirm.png │ ├── FrankaUI_System_ActivateFCI_Done.png │ ├── control.png │ ├── edit-connections.png │ ├── example_cmake_lists.txt │ ├── example_main.cpp │ ├── fci-architecture-non-realtime.png │ ├── libfranka-architecture.png │ ├── pop_up_fci.png │ ├── rt-interfaces.png │ ├── rt-loop.png │ └── static-ip-ubuntu.png ├── compatibility_with_images.rst ├── getting_started.rst ├── index.rst ├── installation.rst ├── libfranka_architecture.rst ├── migration_notes.rst ├── network_requirements.rst ├── overview.rst ├── real_time_kernel.rst ├── system_requirements.rst └── usage_examples.rst ├── examples ├── CMakeLists.txt ├── async_position_control.cpp ├── cartesian_impedance_control.cpp ├── communication_test.cpp ├── echo_robot_state.cpp ├── examples_common.cpp ├── examples_common.h ├── force_control.cpp ├── generate_cartesian_pose_motion.cpp ├── generate_cartesian_pose_motion_external_control_loop.cpp ├── generate_cartesian_velocity_motion.cpp ├── generate_cartesian_velocity_motion_external_control_loop.cpp ├── generate_consecutive_motions.cpp ├── generate_elbow_motion.cpp ├── generate_joint_position_motion.cpp ├── generate_joint_position_motion_external_control_loop.cpp ├── generate_joint_velocity_motion.cpp ├── generate_joint_velocity_motion_external_control_loop.cpp ├── grasp_object.cpp ├── joint_impedance_control.cpp ├── joint_point_to_point_motion.cpp ├── motion_with_control.cpp ├── motion_with_control_external_control_loop.cpp ├── print_joint_poses.cpp ├── utility_examples │ ├── CMakeLists.txt │ └── logging_example.cpp └── vacuum_object.cpp ├── include └── franka │ ├── active_control.h │ ├── active_control_base.h │ ├── active_motion_generator.h │ ├── active_torque_control.h │ ├── async_control │ ├── async_position_control_handler.hpp │ └── target_status.hpp │ ├── commands │ └── get_robot_model_command.hpp │ ├── control_tools.h │ ├── control_types.h │ ├── duration.h │ ├── errors.h │ ├── exception.h │ ├── gripper.h │ ├── gripper_state.h │ ├── joint_velocity_limits.h │ ├── logging │ ├── cout_logging_sink.hpp │ ├── logger.hpp │ ├── logging_sink_interface.hpp │ └── robot_state_log.hpp │ ├── lowpass_filter.h │ ├── model.h │ ├── rate_limiting.h │ ├── robot.h │ ├── robot_model.h │ ├── robot_model_base.h │ ├── robot_state.h │ ├── vacuum_gripper.h │ └── vacuum_gripper_state.h ├── package.xml ├── pylibfranka ├── .github │ └── workflows │ │ └── wheels.yml ├── CMakeLists.txt ├── Jenkinsfile ├── README.md ├── __init__.py ├── docs │ ├── Makefile │ ├── api │ │ ├── control.rst │ │ ├── exceptions.rst │ │ ├── gripper.rst │ │ ├── model.rst │ │ ├── robot.rst │ │ └── state.rst │ ├── api_overview.rst │ ├── build.sh │ ├── class_hierarchy.rst │ ├── class_list.rst │ ├── conf.py │ ├── index.rst │ ├── modules.rst │ └── requirements.txt ├── examples │ ├── cartesian_pose_example.py │ ├── cartesian_velocity_example.py │ ├── example_common.py │ ├── joint_impedance_example.py │ ├── joint_position_example.py │ ├── joint_velocity_example.py │ ├── move_gripper.py │ └── print_robot_state.py ├── include │ ├── pygripper.h │ └── pylibfranka.h ├── scripts │ ├── build_package.sh │ ├── get_version.sh │ ├── lint_code.sh │ ├── repair_wheels.sh │ ├── setup_dependencies.sh │ └── test_installation.sh └── src │ └── pylibfranka.cpp ├── pyproject.toml ├── requirements.txt ├── scripts ├── fail-on-output.sh ├── format-check.sh └── mimic-jenkins.bash ├── setup.cfg ├── setup.py ├── src ├── active_control.cpp ├── active_motion_generator.cpp ├── active_torque_control.cpp ├── async_control │ └── async_position_control_handler.cpp ├── control_loop.cpp ├── control_loop.h ├── control_tools.cpp ├── control_types.cpp ├── duration.cpp ├── errors.cpp ├── exception.cpp ├── gripper.cpp ├── gripper_state.cpp ├── joint_velocity_limits.cpp ├── load_calculations.cpp ├── load_calculations.h ├── logging │ ├── cout_logging_sink.cpp │ ├── logger.cpp │ ├── robot_state_log.cpp │ ├── robot_state_logger.cpp │ └── robot_state_logger.hpp ├── lowpass_filter.cpp ├── model.cpp ├── motion_generator_traits.h ├── network.cpp ├── network.h ├── platform.h ├── rate_limiting.cpp ├── robot.cpp ├── robot_control.h ├── robot_impl.cpp ├── robot_impl.h ├── robot_model.cpp ├── robot_state.cpp ├── vacuum_gripper.cpp └── vacuum_gripper_state.cpp └── test ├── CMakeLists.txt ├── active_motion_generator_tests.cpp ├── active_torque_control_tests.cpp ├── async_control └── async_position_control_tests.cpp ├── calculations_tests.cpp ├── control_loop_tests.cpp ├── control_types_tests.cpp ├── duration_tests.cpp ├── errors_tests.cpp ├── fr3.urdf ├── gripper_command_tests.cpp ├── gripper_tests.cpp ├── helpers.cpp ├── helpers.h ├── joint_velocity_limits_tests.cpp ├── logging ├── logging_tests.cpp └── robot_state_logger_tests.cpp ├── lowpass_filter_tests.cpp ├── mock_robot.h ├── mock_robot_control.h ├── mock_robot_impl.h ├── mock_server.cpp ├── mock_server.h ├── model_tests.cpp ├── rate_limiting_tests.cpp ├── robot_command_tests.cpp ├── robot_impl_tests.cpp ├── robot_jacobian_tests.cpp ├── robot_model_fk_tests.cpp ├── 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