Franka libfranka: Gripper homing and grasping

Gripper homing and grasping. Pinned upstream source; source reviewed only, without Hub execution evidence.

libfranka-grasp-object | Record version: source-f6bb825048738b64de31e0b7d546d33215e33225bbc5d46c062e4299c3a9b34b

Record JSON | Markdown | Pinned upstream source

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.

For one verified inert file, use the installed CLI's inspect response fetch_source_args and append --project DIR --json. Source-file retrieval creates no environment and does not install or run the source.

Hub preparation adapter: false. Follow the upstream setup and invocation contract.

Source and license

Repository: https://github.com/frankarobotics/libfranka
Revision: e88d08f64cbf842b8f53c0b551963684064038d6
Path: examples/grasp_object.cpp
Source SHA256: f6bb825048738b64de31e0b7d546d33215e33225bbc5d46c062e4299c3a9b34b
Source bytes: 1887
Original authors: Franka Robotics GmbH
License: Apache-2.0
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
Hub commit: b3d0fdad987427ec60ef73c982955d86e2943470

Artifact

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

Requirements

{
  "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

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

Explicit compatibility

[]

Missing environment fields remain unknown. 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.