A Python/C++ library for controlling the Franka Panda robot.
The library supports basic joint/Cartesian position control and velocity control.
Pyfranka depends on libfranka to interface with the robot, Eigen for linear algebra operations and transformations, and pybind11 for the Python bindings.
To install the library on Linux, first build and install the libfranka, Eigen, and pybind11 libraries. Then clone the Pyfranka repository, move to the installation root directory, activate the python environment (e.g., Conda) you wish to install the library in, and run the following command:
pip install -e .You can also install libfranka using dpkg, described as optional here, and install pybind11 using pypi with the global argument, as described here.
While the library has not been tested on Windows, it may still be possible to install it, assuming that the various dependencies can be installed and the toolchain adapted for the Windows environment.
See the Franka Panda examples in the Common Robot Interface (CRI) library.
John Lloyd – jlloyd237@gmail.com
Distributed under the GPL v3 license. See LICENSE for more information.