libfrankapyPython library for controlling Franka Emika robots

High-performance Python bindings for libfranka with real-time control capabilities

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Real-time Performance

C++ control loop maintains 1kHz real-time performance, Python does not participate in real-time loops

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Provides intuitive Python API with complete type hints

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Uses shared memory and atomic operations for Python-C++ data exchange

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Complete safety limits, error handling, and emergency stop functionality

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Supports joint space, Cartesian space, and trajectory control

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Complete robot state feedback and monitoring functionality