require_info.md

Robot info needed from Franka arm:

self.current_joint_angles = np.zeros(7)
self.current_ee_pose = np.array([0.5, 0.0, 0.5, 1.0, 0.0, 0.0, 0.0])
self.current_eef_position = np.array([0.5, 0.0, 0.5]) 
self.world2robot_homo = np.eye(4)  
self.gripper_state = 0.0

write into 'robot_state.json'

Joint information

• joint_positions # Current joint angles for all 7 joints
• joint_velocities # Current joint velocities
• joint_torques # Joint torque readings
• joint_limits # Position and velocity limits for each joint

End effector information

• ee_position # Current end effector position in Cartesian space
• ee_orientation # Current end effector orientation (quaternion)

Gripper information

• gripper_width # Current gripper opening width ?
• gripper_state # float: Current state (moving/grasping/idle)

Safety information

• collision_status # Whether robot is in collision
• safety_status # Overall safety status
• errors # Any active error states

Control modes

• control_mode # Current control mode (position/velocity/torque)
• operation_mode # Current operation mode (auto/manual)

Misc

• robot_mode # Overall robot state (idle/moving/error)
• temperature # Joint motor temperatures
• tool_frame # Current tool frame transformation