# Franka libfranka: Cartesian impedance control

Cartesian impedance control. Pinned upstream source; source reviewed only, without Hub execution evidence.

ID: `libfranka-cartesian-impedance`

Record version: `source-c6d28928eb032848cb7eb59051c603f813e22076c17ff9bcadead24e7db7c700`

Hub commit: `b3d0fdad987427ec60ef73c982955d86e2943470`

## Access

Read the exact source with its upstream setup and adjacent dependencies. This reference neither installs an agent instruction bundle nor authorizes code or physical motion.

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source libfranka-cartesian-impedance --expected-source-revision e88d08f64cbf842b8f53c0b551963684064038d6 --expected-source-sha256 c6d28928eb032848cb7eb59051c603f813e22076c17ff9bcadead24e7db7c700 --project ./experiment --json`. This verifies one file, preserves provenance and never installs or runs it. See [source-file retrieval](https://hub.superfastrobotics.com/source-files.md).

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/frankarobotics/libfranka/blob/e88d08f64cbf842b8f53c0b551963684064038d6/README.rst

## Source and license

- Repository: https://github.com/frankarobotics/libfranka
- Pinned source: https://github.com/frankarobotics/libfranka/blob/e88d08f64cbf842b8f53c0b551963684064038d6/examples/cartesian_impedance_control.cpp
- Revision: `e88d08f64cbf842b8f53c0b551963684064038d6`
- Path: `examples/cartesian_impedance_control.cpp`
- Source SHA256: `c6d28928eb032848cb7eb59051c603f813e22076c17ff9bcadead24e7db7c700`
- Source bytes: 5217
- Original authors: Franka Robotics GmbH
- License: [Apache-2.0](https://github.com/frankarobotics/libfranka/blob/e88d08f64cbf842b8f53c0b551963684064038d6/LICENSE)
- License scope: Selected first-party source/instruction text only, under its pinned license and author notices. Preserve upstream attribution. Referenced runtimes, third-party components, model weights, data, firmware and hardware retain their own terms.

License SHA256: `a6cba85bc92e0cff7a450b1d873c0eaa2e9fc96bf472df0247a26bec77bf3ff9`

## Artifact

```json
{
  "kind": "source_code",
  "format": "cpp",
  "role": "upstream-program"
}
```

## Requirements

```json
{
  "python": "Native C++17 examples; CMake >=3.16.",
  "packages": [
    "Pinned libfranka 0.21.3 source",
    "Eigen3, Poco Net/Foundation, console_bridge, Pinocchio, TinyXML2 and Threads from pinned CMake declarations"
  ],
  "display": "Configured Franka FCI controller, authorized robot IP, compatible firmware/library and real-time host. Motion examples change control/collision settings; numeric targets are upstream examples, not validated values for an installed robot.",
  "execution_domain": "real_robot"
}
```

## Invocation

```json
{
  "entrypoint": "examples/cartesian_impedance_control.cpp",
  "notes": "Compile the exact upstream example with its adjacent helper files and use the upstream controller setup."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Verified SHA-256, byte count, Git blob, reviewed operation anchors and source license. Parsed Python as AST or inspected native/instruction entry documents; no upstream instructions or code executed.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.