Franka Python Packages

franky-control

High-Level Control Library for Franka Robots with Python and C++ Support

franka-sim

A high-fidelity simulation backend for Franka robots that implements the complete libfranka API. Develop and test your robot control applications with identical code for both simulation and hardware. Supports all joint control modes (position, velocity, torque) with realistic physics powered by the Genesis engine.

gym-ignition-models

Collection of robot models compatible with gym-ignition

franky-sim

Drop-in Franka robot simulator implementing the libfranka network protocol.

frankik

Blazing fast, analytical Inverse Kinematics for Franka Emika Panda and FR3 robots. Lightweight Python bindings, no ROS required.