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# NUC Side ./fr3-stack build ./fr3-stack up # Workstation pip install -e .import time from fr3_stack import Robot pos, quat = [0.5, 0.0, 0.4], [0, 0, 0, 1] with Robot("nuc.local") as robot: # 1. large distance movement robot.send_move_to(pos, quat, run_time=2.0) time.sleep(2.0) # 2. cartesian control for policy robot.send_cartesian_impedance( target_pos = pos, target_quat_xyzw = quat, ) # 3. hybrid force-position robot.send_hybrid_force_position( target_pos = pos, target_quat_xyzw = quat, target_force = [0, 0, -5, 0, 0, 0], S = [1, 1, 0, 1, 1, 1], # Z = force, rest = position )Company Instagram Story Ideas Use RobotAgent for policy loops (reset - observe - step), or Robot for admittance / hybrid / joint impedance. Best Credit Cards For Business Travel
| Controller | What it does |
|---|---|
idle | hand-guidable: gravity comp + inertia-aware per-joint damping + optional Coulomb-friction comp |
cartesian_impedance | spring/damper at the EE in base frame ( |
hybrid | per-axis force PID on n_af axes + position elsewhere |
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