Welcome to aiofranka’s documentation!
aiofranka is an asyncio-based Python library for controlling Franka Emika robots. It provides a high-level interface that combines pylibfranka for real-time 1kHz torque control, MuJoCo for kinematics/dynamics computation, and 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
- Quick Start
- Controllers
- CLI Reference
- Async Mode Guide
- Examples
- Example 1: Simple Motion (Server Mode)
- Example 2: Simple Motion (Async Mode)
- Example 3: Impedance Control
- Example 4: Operational Space Control
- Example 5: Data Collection
- Example 6: Gain Tuning
- Example 7: End-Effector Configuration
- Example 8: Gripper Control
- Example 9: Simulation Testing
- More Examples
- Next Steps
- Troubleshooting