original_docstring: 
      Goes to door handle
  
      Inputs:
          fa: franka arm object
          gains: cartesian_impedances gains to use
      
docstring: Goes to door handle
  Inputs:
  fa: franka arm object
  gains: cartesian_impedances gains to use
docstring_tokens: Goes to door handle Inputs : fa : franka arm object gains : cartesian_impedances gains to use
code: def go2door(fa, gains=None, close_gripper=False, use_planner = False, world=None):
      """
      Goes to door handle
  
      Inputs:
          fa: franka arm object
          gains: cartesian_impedances gains to use
      """
      if use_planner:
          traj = world.grasp_object()
          result = follow_traj(traj, monitor_execution=True)
          return result
      if gains is None:
          gains = [1000,1000,1000,50,50,50]
      
      #go to grasp location
      desired_tool_pose = RigidTransform(
          rotation=np.array([[0.9988874, -0.0389031, -0.0262919],
                             [0.02844157, 0.05578267, 0.99803772],
                             [-0.03736013, -0.99767509, 0.05682816]]),
          translation=np.array([0.61257949, 0.46935375, 0.46155012]),
          from_frame='franka_tool', to_frame='world')
      fa.goto_pose_with_cartesian_control(desired_tool_pose,
                                          duration=5.0,
                                          cartesian_impedances=gains)
  
      if close_gripper == True:
          fa.close_gripper()
code_tokens: def go2door ( fa , gains = None , close_gripper = False , use_planner = False , world = None ) : if use_planner : traj = world . grasp_object ( ) result = follow_traj ( traj , monitor_execution = True ) return result if gains is None : gains = [ 1000 , 1000 , 1000 , 50 , 50 , 50 ] desired_tool_pose = RigidTransform ( rotation = np . array ( [ [ 0.9988874 , - 0.0389031 , - 0.0262919 ] , [ 0.02844157 , 0.05578267 , 0.99803772 ] , [ - 0.03736013 , - 0.99767509 , 0.05682816 ] ] ) , translation = np . array ( [ 0.61257949 , 0.46935375 , 0.46155012 ] ) , from_frame = 'franka_tool' , to_frame = 'world' ) fa . goto_pose_with_cartesian_control ( desired_tool_pose , duration = 5.0 , cartesian_impedances = gains ) if close_gripper == True : fa . close_gripper ( )
short_docstring: Goes to door handle
  Inputs:
  fa: franka arm object
  gains: cartesian_impedances gains to use
short_docstring_tokens: Goes to door handle Inputs : fa : franka arm object gains : cartesian_impedances gains to use
comment: """
      Goes to door handle
  
      Inputs:
          fa: franka arm object
          gains: cartesian_impedances gains to use
      """$SEP$#go to grasp location