airo-fanuc

A standalone driver for FANUC industrial arms: a compiled real-time core speaking Stream Motion (UDP, 125 Hz / 8 ms) plus an RMI JSON client (TCP), behind a Python API.

The Python surface is split the conventional way for an industrial-arm client library: a receive half — state getters that never block, never raise, and never lie, every value carrying its age — and a control half, usable blocking or non-blocking. FanucDriver presents both on one construct-and-go object: the constructor brings the robot up to commandable or raises with a real reason, move_trajectory / move_j / servo_j are the only motion surfaces, and stop_j() is the universal preempt.

Everything timing-critical is C++: the 125 Hz tick loop, cubic-Hermite trajectory playback, the Ruckig-based brake/servo/capture profiles, the slew clip and the safety state machine. Python owns lifecycle, recovery policy, validation and the RMI session, and is never in the control loop.

One runtime dependency: numpy. Everything environment-specific is injected — the collision check, a state sink, the arm's motion envelope, the gripper's register protocol — so installing this driver does not drag in a robotics stack.

Install

pip install airo-fanuc

A download on Linux x86_64 and aarch64, CPython 3.10-3.14: the published wheels carry the compiled real-time core, so no compiler, no CMake and no headers are involved. uv add airo-fanuc / uv pip install airo-fanuc take the same wheel.

Linux only, and not a preference — the RT thread is timerfd_create + epoll + SCHED_FIFO, with no portable fallback.

Anywhere else — another platform, or a free-threaded interpreter — pip falls back to the sdist and compiles the extension, which needs a C++20 compiler, CMake ≥ 3.22, the Python development headers, and network access to fetch ruckig and pybind11.

The package ships no arm profile — you supply a RobotProfile, and most of it comes out of the controller itself. See configuration.

Will it work on your robot?

Stream Motion and RMI are FANUC's own protocols, not a collaborative-robot feature; what is required is controller option S636. The 8 ms interpolation period is an R-30iB fact, so this covers FANUC's mainstream controller class rather than only cobots.

Four things are not generic: the arm's envelope (injected, no default), the interpolation period (configured, and bring-up refuses a mismatch), the six-joint count (compile-time), and the gripper (parameterised, but its Teach-Pendant program is yours to install). Read this before planning a bring-up.

Developed and measured against a FANUC CRX-10iA/L on an R-30iB-class controller.

Usage

import numpy as np
from airo_fanuc import DriverConfig, DriverPolicy, FanucDriver, MotionResult

from crx10ial import CRX10IAL   # your arm's RobotProfile — examples/crx10ial.py

policy = DriverPolicy(config=DriverConfig(profile=CRX10IAL), enable_gripper=False)

# construct-and-go: blocks until the robot is commandable, or raises with a real reason
with FanucDriver("192.168.1.100", policy) as driver:
    q0 = np.asarray(driver.get_state()["q_cmd"], dtype=float)
    q1 = q0.copy()
    q1[5] += np.radians(10.0)                       # J6 by +10 deg

    result = driver.move_j(q1, joint_speed=0.2).wait(timeout=9.0)
    assert result == MotionResult.DONE

move_j plans a jerk-limited point-to-point profile and submits it; joint_speed is the leading-axis speed in rad/s, and every joint is time-synchronised to land together. It requires the arm to be at rest. move_trajectory(times, q, qd=None) takes a fully time-parameterised timeline instead — int64 nanoseconds, radians, velocities optional (omit them and the driver derives the knot tangents) — and the C++ core owns playback from submission, so a late Python thread costs nothing. servo_j(q, duration) is the replace-not-queue streaming path, best-effort in the sense UR's servoj is.

Every motion returns a MotionHandle immediately. .wait(timeout) blocks and resolves to a non-raising MotionResult; skip it and poll .done() / .result().

Runnable, including a --fake mode that needs no hardware:

uv run python examples/move_joints.py --fake      # single-joint rest-to-rest move
uv run python examples/sine_wave.py --fake        # dense-knot trajectory, all joints
uv run python examples/servo_stream.py --fake     # the same path streamed via servo_j

Those are also bring-up validation scripts: each reports what the controller said, moves, and ends in a PASS/FAIL verdict with the real-time loop's measured timing.

Documentation

docs/README.md is the index. The ones you are most likely to want:

License

Apache-2.0 — see LICENSE. The vendored FANUC Stream Motion codec headers are Apache-2.0 too, with no modifications (PATCHES.md). Ruckig (MIT) and pybind11 (BSD-3-Clause) are compiled into the _core extension, so the wheel redistributes both; their texts are in LICENSES/ and every component is attributed in NOTICE.

Project links

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Avatar for dmarzoug from gravatar.com dmarzoug

Credits

Author: IDLab-AIRO, Ghent University

GitHub Statistics

Data verified by PyPI on Aug 4, 2026
The GitHub source repository was provided by the project maintainers and verified by PyPI at the time of upload. Stars, forks, and open issues/PRs are derived from that repository and have not been independently verified.

License expression

Apache-2.0
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Requires

Python >=3.10

Provides Extra

dev

Tags

fanuc crx stream-motion robot manipulator real-time

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