original_docstring: 
      Pull on door
      
      Inputs:
          fa: the franka arm object
          duration: duration of movement
          gains: the cartesian impedance gains to use 
      
docstring: Pull on door
  Inputs:
  fa: the franka arm object
  duration: duration of movement
  gains: the cartesian impedance gains to use
docstring_tokens: Pull on door Inputs : fa : the franka arm object duration : duration of movement gains : the cartesian impedance gains to use
code: def pull_door(fa, duration=5.0, gains=None, open_gripper=True):
      """
      Pull on door
      
      Inputs:
          fa: the franka arm object
          duration: duration of movement
          gains: the cartesian impedance gains to use 
      """
      if gains is None:
          gains = [400, 800, 1000, 5, 5, 5]
  
      desired_tool_pose = RigidTransform(
          rotation=np.array([[0.43484823, 0.8440584, 0.31377554,],
                              [-0.062703, -0.31921447, 0.94560479,],
                              [0.89830735, -0.43086923, -0.08588651]]),
          translation=np.array([0.52567046, 0.28332678, 0.37527456]),
          from_frame='franka_tool', to_frame='world')
      fa.goto_pose_with_cartesian_control(desired_tool_pose,
                                          duration=duration,
                                          cartesian_impedances=gains)
  
      if open_gripper:
          fa.open_gripper()
code_tokens: def pull_door ( fa , duration = 5.0 , gains = None , open_gripper = True ) : if gains is None : gains = [ 400 , 800 , 1000 , 5 , 5 , 5 ] desired_tool_pose = RigidTransform ( rotation = np . array ( [ [ 0.43484823 , 0.8440584 , 0.31377554 , ] , [ - 0.062703 , - 0.31921447 , 0.94560479 , ] , [ 0.89830735 , - 0.43086923 , - 0.08588651 ] ] ) , translation = np . array ( [ 0.52567046 , 0.28332678 , 0.37527456 ] ) , from_frame = 'franka_tool' , to_frame = 'world' ) fa . goto_pose_with_cartesian_control ( desired_tool_pose , duration = duration , cartesian_impedances = gains ) if open_gripper : fa . open_gripper ( )
short_docstring: Pull on door
  Inputs:
  fa: the franka arm object
  duration: duration of movement
  gains: the cartesian impedance gains to use
short_docstring_tokens: Pull on door Inputs : fa : the franka arm object duration : duration of movement gains : the cartesian impedance gains to use
comment: """
      Pull on door
      
      Inputs:
          fa: the franka arm object
          duration: duration of movement
          gains: the cartesian impedance gains to use 
      """