Welcome to aiofranka’s documentation!

aiofranka is an asyncio-based Python library for controlling Franka Emika robots. It provides a high-level, asynchronous interface that combines `pylibfranka` for official low-level control interface (1kHz torque control), `MuJoCo` for kinematics/dynamics computation, `Ruckig` for smooth trajectory generation.

The library is designed for research applications requiring precise, real-time control with minimal latency and maximum flexibility.

Contents

Getting Started:

• Installation
  • System Requirements
  • Installing aiofranka
  • Verifying Installation
• Quick Start
  • Basic Example
  • Understanding the Code
  • Simulation Mode
  • Reading Robot State
  • Controller Modes
• Controllers
  • Impedance Control
  • Operational Space Control (OSC)
  • Switching Controllers
• Examples
  • Example 1: Simple Motion
  • Example 2: Impedance Control
  • Example 3: Operational Space Control
  • Example 4: Data Collection
  • Example 5: Teleoperation
  • Example 6: Custom Controller
  • Example 7: Gain Tuning
  • Example 8: Simulation Testing
  • More Examples
  • Next Steps

API Reference:

• Robot Interface
  • RobotInterface
• Franka Controller
  • FrankaController

Indices and tables

• Index

• Module Index

• Search Page