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.
Its 1 kHz control loop runs in C++, in a thread that never waits for Python (see Native Control Loop). The library is designed for research applications requiring precise, real-time control with minimal latency and maximum flexibility.
Contents
Getting Started