Frankz

Modern Python wrapper for Franka Research 3 robot control library.

Features

• Joint Motion: Move robot to specific joint configurations with smooth trajectories
• Trajectory Execution: Execute waypoint-based joint trajectories
• Cartesian Control: Move end-effector to target poses in Cartesian space
• Real-time Feedback: Monitor robot state and hardware status

Installation

pip install frankz

Requirements: Ubuntu 22.04/24.04, Python 3.9-3.12

Quick Start

Connect to your robot and move to a target pose:

import frankz
import numpy as np

# Your robot IP
robot_ip = "172.16.0.3"

# Check hardware status: is it realtime kernel? your ethernet is fast enough? (it will move)
if frankz.is_good_hardware(robot_ip):
    print("Robot ready for operation")

# Get current end-effector pose
pose = frankz.get_current_ee_pose(robot_ip)
print(f"Current position: {pose[:3, 3]}")

# Move to target joint configuration
target_joints = np.array([0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785])
frankz.move_to_joint(target_joints, robot_ip, max_velocity_factor=0.5)

Motion Examples

Joint Space Motion

# Simple joint move with custom speed
frankz.move_to_joint(
    target_joints,
    robot_ip,
    max_velocity_factor=0.3,      # 30% of max velocity
    max_acceleration_factor=0.3,   # 30% of max acceleration
    max_jerk_factor=0.3            # 30% of max jerk
)

Trajectory Following

# Execute multi-waypoint trajectory
waypoints = [
    np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]),
    np.array([0.5, -0.5, 0.5, -0.5, 0.5, -0.5, 0.5]),
    np.array([0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]),
]

frankz.move_joints_through_trajectory(waypoints, robot_ip)

Cartesian Motion

# Move end-effector to target pose
target_pose = np.eye(4)
target_pose[:3, 3] = [0.3, 0.0, 0.5]  # Set target position

frankz.move_ee_to(
    target_pose, robot_ip,
    max_trans_velocity_factor=0.5,   # Translation limits
    max_trans_acceleration_factor=0.5,
    max_trans_jerk_factor=0.5,
    max_rot_velocity_factor=0.5,     # Rotation limits
    max_rot_acceleration_factor=0.5,
    max_rot_jerk_factor=0.5
)

Version Compatibility

Frankz version follows libfranka versioning:

• 0.19.0.X corresponds to libfranka 0.19.0
• 0.20.0.X corresponds to libfranka 0.20.0

The fourth digit represents the frankz patch level for that libfranka version.

License

Apache 2.0