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franka-control

  • Software
  • Robot arms and industry
  • Library

A Python-native, ROS-free toolkit for controlling Franka Research 3 robots, with teleoperation, a Gymnasium environment, trajectory tools and LeRobot v3 data collection for learning research.

Source on GitHub: github.com/ArrebolBlack/franka-control (opens in a new tab). Facts read at commit 5f73a21 (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 5f73a21 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Splits work across a control PC running the robot and gripper services and an algorithm machine that streams robot state over ZMQ.
  • Provides a Gymnasium-compatible FrankaEnv for policy and reinforcement-learning loops.
  • Offers SpaceMouse and keyboard teleoperation for the robot.
  • Includes waypoint capture, route editing, TOPPRA trajectory planning and execution.
  • Adds Pinocchio-based forward and inverse kinematics utilities.
  • Collects demonstrations with RealSense cameras into LeRobot v3 datasets, with resume, annotation and playback.

Written by Robotheca from the project's README (opens in a new tab) at commit 5f73a21.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Control machine: Franka FCI connection, PREEMPT_RT, plus aiofranka and pylibfranka. Algorithm machine: Ubuntu 22.04 or 24.04, Python 3.12, and a desktop session for OpenCV windows, keyboard teleop or the dataset player. Optional SpaceMouse and RealSense cameras.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
22 Sept 2026 on main
Latest release
v0.2.1 (7 May 2026)

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.