Support for every Franka robot libfranka still speaks to, from the Franka Emika
Robot on system 3.0.0 to the Franka Research 3 on 5.9.0 and later, and a series
of fixes to bugs present in every earlier release.
Installing
pip install panda-python
The wheels on PyPI are built against libfranka 0.9.2, which is the newest
version supporting the Franka Emika Robot. For a Franka Research 3, download the
archive matching your robot system version from the assets below, extract it and
install the wheel for your Python version:
| Robot system version | Robot | Archive |
|---|---|---|
| >= 5.9.0 | FR3 | panda_py_1.0.0_libfranka_0.21.3.zip |
| >= 5.7.2 | FR3 | panda_py_1.0.0_libfranka_0.17.0.zip |
| >= 5.7.0 | FR3 | panda_py_1.0.0_libfranka_0.14.2.zip |
| >= 5.5.0 | FR3 | panda_py_1.0.0_libfranka_0.13.6.zip |
| >= 5.2.0 | FR3 | panda_py_1.0.0_libfranka_0.13.2.zip |
| >= 4.2.1 | FER | panda_py_1.0.0_libfranka_0.9.2.zip |
| >= 4.0.0 | FER | panda_py_1.0.0_libfranka_0.8.0.zip |
| >= 3.0.0 | FER | panda_py_1.0.0_libfranka_0.7.1.zip |
Python 3.9 through 3.14 are supported. Wheels are now manylinux_2_28, so a
distribution with glibc 2.28 or newer is required, which is the same floor numpy
publishes for.
Highlights
- Wheels for libfranka 0.7.1 through 0.21.3, covering research interface
protocol versions 3 to 10. - Virtual walls had no damping at all, and used the Franka Emika Robot's joint
envelope on every robot, which threw from inside the control loop for legal
FR3 configurations. The envelope is now selected from the connected robot. move_to_joint_positionandmove_to_posereported success as soon as the
robot stopped moving, which with impedance control can be centimetres short of
the goal.- All nine overloads of
libfranka.Robot.controlare bound, so motion generator
callbacks work rather than failing with a conversion error. - New
Panda.is_moving()andPanda.refresh_state(); the state getters now read
the robot when no controller is running instead of returning a stale cache. - Wheels shrank from about 12 MB to about 2 MB.
Python 3.7 and 3.8 support is dropped, and bin/before_install_ubuntu.sh is
removed; see CONTRIBUTING.md for building against a specific libfranka.
The full list is in CHANGELOG.md.