Install
At the end of this page the crate builds in your project, or import franka works in your
Python environment.
Rust
cargo add franka-rs
or in Cargo.toml:
[dependencies]
franka-rs = "0.3"
The library is named franka, so you write use franka::Robot;. Rust 1.85 or newer
(edition 2021). Build with --release: a debug build of a stiff torque controller misses
cycles. To follow main instead of a release, depend on the git repository:
franka-rs = { git = "https://github.com/BarisYazici/franka-rs" }.
| feature | default | what it does |
|---|---|---|
model-library | on | Compiles Robot::load_model_from_robot, the dlopen path for the model library an FER serves (pulls in libloading). Turn it off for a static musl build or to keep dlopen out of your process; Robot::load_model() works either way, on both robots. |
serde | off | Serialize / Deserialize on RobotState, RobotMode, Errors, Duration, Record, RobotCommandLog, MoveStatus and ControlException, so a control log can be saved as JSON and replayed; see Record and replay a run. |
Python
pip install franka-rs
The wheel is franka-rs, the import name franka; Python 3.9 or newer, numpy is the only
dependency. See From Python.
Rerun viewer (optional)
Only needed for the flight recorder and the Rerun examples.
The viewer must be 0.37.1, the SDK version crates/franka-rerun pins:
pip install rerun-sdk==0.37.1
# or
cargo install rerun-cli --locked --version 0.37.1
Both put a rerun binary on the path; check with rerun --version.
Next: The realtime machine, or Without a robot: franka-sim if you have no arm at hand.