franka-rs for Python

import franka: drive a Franka FR3 (FCI v10) or Franka Emika Robot / Panda (FCI v5) from a program that runs at its own rate -- a policy at 5 to 30 Hz, a script, a keyboard. The 1 kHz control loop is franka-rs's target control on a Rust thread; the GIL is never on the 1 kHz path. move_to / move_by are one write into that loop's seqlock slot, follow hands a chunk of targets to a Rust timer thread, and state() is a copy out of a mutex.

import franka

robot = franka.Robot("192.168.0.1")   # FRANKA_REALTIME=ignore for franka-sim

with robot.cartesian_targets(max_velocity=0.3, max_acceleration=0.5, max_jerk=20.0) as arm:
    while not done:
        obs = arm.state().flat()      # 1-D float64 in the order of franka.FLAT_LAYOUT
        action = policy(obs)
        arm.move_by(action[:3])       # metres, relative to the current target
        # or: arm.move_to([x, y, z]); arm.follow(chunk, dt=0.02)  # chunk: (N, 3) absolute

robot.joint_targets(fraction=0.2) is the same over the seven joints. __exit__ stops the loop; an exception inside the block still stops the motion and is re-raised. Errors are franka.FrankaError; a motion the robot aborted is a franka.ControlException with the reflex reason. robot.gripper() drives the Franka Hand, releasing the GIL while it waits.

A Cartesian target of 7 elements (move_to, the rows of follow) sets the orientation too, as a unit quaternion x, y, z, w after the position; a move_by of 6 elements appends a rotation vector (axis times angle, rad) composed onto the target orientation in the base frame. arm.target() is that 7-vector, arm.target_pose() the 4x4 matrix. examples/policy_loop.py is a jittery 6-10 Hz loop with a circle, a yaw and tilt sweep and a follow chunk, as run on a Panda; examples/rotate.py is the rotation alone, and examples/quickstart.ipynb a notebook that connects, moves, and replays the motion inline with Franka's meshes. robot.model() is the kinematics and dynamics over numpy (pose, body_jacobian, zero_jacobian, mass, coriolis, gravity, link_poses, hand_pose).

Install

pip install franka-rs

The wheel is named franka-rs, the package franka. To build from the source tree into a virtualenv instead (prefix with env -u CONDA_PREFIX under an active conda env):

pip install maturin
maturin develop --release -m crates/franka-py/Cargo.toml

The crate is publish = false on crates.io; its tests are

flock .sim.lock env FRANKA_SIM_IMAGE=franka-sim:dev pytest crates/franka-py/tests

against the simulator (see the book's Testing with franka-sim).

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Apache-2.0
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Python >=3.9

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