1khz Franka robot control in pure Julia
Franka.jl wraps libfranka via CxxWrap.jl, exposing the Franka Control Interface (FCI) to Julia. It allows realtime 1khz callbacks for motion generation and gravity-compensated torque control to be written in pure Julia.
Please see the examples/ folder for interface examples, for both motion generation and cartesian impedance control.
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| examples/y_compliant_sinusoid.jl |
This package is not (yet) on the Julia package repositories. In the meantime, you can install with the following steps:
- Install a c++ compiler, Eigen3.3, and libpoco's development files
- Clone this repo and its submodules
- Run
path/to/cloned/Franka.jl/scripts/build.sh - In Julia, run
Pkg.develop("path/to/cloned/Franka.jl")from your calling project