.. aiofranka documentation master file

Welcome to aiofranka's documentation!
======================================

.. image:: ../../assets/image.png
   :width: 340
   :align: center
   :alt: aiofranka logo

.. image:: https://img.shields.io/pypi/v/aiofranka
   :alt: PyPI version
   :target: https://pypi.org/project/aiofranka/

.. image:: https://img.shields.io/badge/License-MIT-yellow.svg
   :alt: License: MIT
   :target: https://opensource.org/licenses/MIT

**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
--------

.. toctree::
   :maxdepth: 2
   :caption: Getting Started:

   installation
   quickstart
   controllers
   examples

.. toctree::
   :maxdepth: 2
   :caption: API Reference:

   api/robot
   api/controller

Indices and tables
==================

* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`