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

The library is named franka, so you write use franka::Robot;. Rust 1.89 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" }.

Both robots use the Rust model implementation; no separate Panda model library is needed. For JSON serialization, enable the optional serde feature; see Record and replay a run.

A Raspberry Pi or another remote control host

Use franka-node on the realtime host and franka-node-client (the same version) on your laptop. These are optional: a direct Rust or Python program needs neither. The Raspberry Pi guide explains prerequisites, installation, configuration, and the first connection.

cargo install franka-node --locked
# Optional camera process:
cargo install franka-cam --locked

From a checkout, cargo install --path crates/franka-node --locked (and crates/franka-cam). Prebuilt binaries and the full configuration: Serve arms over Zenoh.

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.