Releases: frankarobotics/libfranka
libfranka 0.21.1
libfranka 0.21.1
C++ library and Python bindings for controlling Franka robots.
Documentation
For installation instructions, see the libfranka documentation.
libfranka 0.21.0
libfranka 0.21.0
C++ library and Python bindings for controlling Franka robots.
Documentation
For installation instructions, see the libfranka documentation.
libfranka 0.20.5
libfranka 0.20.5
C++ library and Python bindings for controlling Franka robots.
Documentation
For installation instructions, see the libfranka documentation.
libfranka 0.20.4
libfranka 0.20.4
C++ library and Python bindings for controlling Franka robots.
Documentation
For installation instructions, see the libfranka documentation.
libfranka 0.20.3
libfranka 0.20.3
C++ library and Python bindings for controlling Franka robots.
libfranka (C++ Library)
Installation from Debian Package
Download the appropriate .deb file for your Ubuntu version from the assets below and install:
Ubuntu 20.04 (Focal):
sudo dpkg -i libfranka_0.20.3_focal_amd64.deb
sudo apt-get install -f # Install dependencies if neededUbuntu 22.04 (Jammy):
sudo dpkg -i libfranka_0.20.3_jammy_amd64.deb
sudo apt-get install -f # Install dependencies if neededUbuntu 24.04 (Noble):
sudo dpkg -i libfranka_0.20.3_noble_amd64.deb
sudo apt-get install -f # Install dependencies if neededAvailable Debian Packages
| Ubuntu Version | Package |
|---|---|
| 20.04 (Focal) | libfranka_0.20.3_focal_amd64.deb |
| 22.04 (Jammy) | libfranka_0.20.3_jammy_amd64.deb |
| 24.04 (Noble) | libfranka_0.20.3_noble_amd64.deb |
pylibfranka (Python Bindings)
Python bindings for libfranka, providing easy-to-use Python interfaces for controlling Franka robots.
Installation
From PyPI (Recommended)
pip install pylibfranka==0.20.3From GitHub Release
Download the appropriate wheel for your Python version and install:
pip install pylibfranka-0.20.3-cp310-cp310-manylinux_2_34_x86_64.whlPlatform Compatibility
| Ubuntu Version | Supported Python Versions |
|---|---|
| 20.04 (Focal) | Python 3.9 only |
| 22.04 (Jammy) | Python 3.9, 3.10, 3.11, 3.12 |
| 24.04 (Noble) | Python 3.9, 3.10, 3.11, 3.12 |
Note: Ubuntu 20.04 users must use Python 3.9 due to glibc compatibility requirements.
Available Wheels
- Python 3.9:
cp39-cp39-manylinux_2_31_x86_64.whl(Ubuntu 20.04+) - Python 3.10:
cp310-cp310-manylinux_2_34_x86_64.whl(Ubuntu 22.04+) - Python 3.11:
cp311-cp311-manylinux_2_34_x86_64.whl(Ubuntu 22.04+) - Python 3.12:
cp312-cp312-manylinux_2_34_x86_64.whl(Ubuntu 22.04+) - Source:
pylibfranka-0.20.3.tar.gz
Quick Start
import pylibfranka
print(f"pylibfranka version: {pylibfranka.__version__}")
robot = pylibfranka.Robot("172.16.0.2")
state = robot.read_once()Documentation
libfranka 0.20.2
libfranka 0.20.2
C++ library and Python bindings for controlling Franka robots.
libfranka (C++ Library)
Installation from Debian Package
Download the appropriate .deb file for your Ubuntu version from the assets below and install:
Ubuntu 20.04 (Focal):
sudo dpkg -i libfranka_0.20.2_focal_amd64.deb
sudo apt-get install -f # Install dependencies if neededUbuntu 22.04 (Jammy):
sudo dpkg -i libfranka_0.20.2_jammy_amd64.deb
sudo apt-get install -f # Install dependencies if neededUbuntu 24.04 (Noble):
sudo dpkg -i libfranka_0.20.2_noble_amd64.deb
sudo apt-get install -f # Install dependencies if neededAvailable Debian Packages
| Ubuntu Version | Package |
|---|---|
| 20.04 (Focal) | libfranka_0.20.2_focal_amd64.deb |
| 22.04 (Jammy) | libfranka_0.20.2_jammy_amd64.deb |
| 24.04 (Noble) | libfranka_0.20.2_noble_amd64.deb |
pylibfranka (Python Bindings)
Python bindings for libfranka, providing easy-to-use Python interfaces for controlling Franka robots.
Installation
From PyPI (Recommended)
pip install pylibfranka==0.20.2From GitHub Release
Download the appropriate wheel for your Python version and install:
pip install pylibfranka-0.20.2-cp310-cp310-manylinux_2_34_x86_64.whlPlatform Compatibility
| Ubuntu Version | Supported Python Versions |
|---|---|
| 20.04 (Focal) | Python 3.9 only |
| 22.04 (Jammy) | Python 3.9, 3.10, 3.11, 3.12 |
| 24.04 (Noble) | Python 3.9, 3.10, 3.11, 3.12 |
Note: Ubuntu 20.04 users must use Python 3.9 due to glibc compatibility requirements.
Available Wheels
- Python 3.9:
cp39-cp39-manylinux_2_31_x86_64.whl(Ubuntu 20.04+) - Python 3.10:
cp310-cp310-manylinux_2_34_x86_64.whl(Ubuntu 22.04+) - Python 3.11:
cp311-cp311-manylinux_2_34_x86_64.whl(Ubuntu 22.04+) - Python 3.12:
cp312-cp312-manylinux_2_34_x86_64.whl(Ubuntu 22.04+) - Source:
pylibfranka-0.20.2.tar.gz
Quick Start
import pylibfranka
print(f"pylibfranka version: {pylibfranka.__version__}")
robot = pylibfranka.Robot("172.16.0.2")
state = robot.read_once()Documentation
0.20.1
Full Changelog: 0.20.0...0.20.1
0.20.0
[0.20.0]
libfranka - C++
Changed
- Hotfix to avoid torques discontinuity false positives due to robot state float precision change.
pylibfranka - Python
Added
- Async control python bindings
- Async joint positions control example from C++.
Full Changelog: 0.19.0...0.20.0
Full Changelog: 0.19.0...0.20.0
0.19.0
[0.19.0]
libfranka - C++
Changed
- To support franka_ros2, we added an option for the async position control to base the
getFeedbackfunction on a robot state received viafranka_hardwareinstead of querying the robot directly. - Format libfranka debian package to inlclude ubuntu code name and arch: libfranka_VERSION_CODENAME_ARCH.deb
- Added build containers to support Ubuntu 22.04 and 24.04
Full Changelog: 0.18.2...0.19.0
0.18.2
Requires Franka Research 3 System Version >= 5.9.0
libfranka - C++
Documentation
- Enhanced documentation with expanded installation methods, and reorganized getting started guide
Added
- upload debian packages automatically to releases
Fixed
- Fixed a compile issue with TinyXML2 dependency (see github)
pylibfranka - Python
Added
- Added Joint and Cartesian Velocity controller examples.*
Full Changelog*: 0.18.1...0.18.2