0.18.2

Requires Franka Research 3 System Version >= 5.9.0

libfranka - C++

Documentation

• Enhanced documentation with expanded installation methods, and reorganized getting started guide

Added

• upload debian packages automatically to releases

Fixed

• Fixed a compile issue with TinyXML2 dependency (see github)

pylibfranka - Python

Added

• Added Joint and Cartesian Velocity controller examples.*

Full Changelog*: 0.18.1...0.18.2

0.18.1

[0.18.1]

Requires Franka Research 3 System Version >= 5.9.0

libfranka - C++

Changed

• The libfranka library is built with static links - removing the need for dynamic dependencies at runtime
• Fix the acceleration link addition bug and robot model link parsing github
• Update the test urdf with the acceleration links and joint

pylibfranka - Python

Added

• Added API documentation section to the official docs: API References

0.18.0

[0.18.0]

Requires Franka Research 3 System Version >= 5.9.0

libfranka - C++

Added

• Forward kinematics computation using Pinocchio library
• Jacobian computation using Pinocchio library
• Accelerometer data exposed in robot state
• Joint position-based velocity limits parsed from URDF to compute upper and lower velocity bounds
• Documentation under libfranka repository
• Feat: Async Position Control Handler added to libfranka to support asynchronous position control (Experimental and subject to change)

Changed

• Updated libfranka-common (common-libfranka) to use float-based RobotState struct
• Upgraded Pinocchio dependency to version 3.4.0
• Upgraded minimum Clang version from 6 to 14
• Removed dynamic library loading from Model constructor

Fixed

• Corrected elbow limit rating which was using incorrect values

Deprecated

• Marked franka::computeUpperLimitsJointVelocity(const std::array<double, 7UL> &q) and franka::computeLowerLimitsJointVelocity(const std::array<double, 7UL> &q)as deprecated. It will be removed in future versions. Use Robot::getUpperJointVelocityLimits(const std::array<double, 7UL> &joint_positions) and Robot::getLowerJointVelocityLimits(const std::array<double, 7UL> &joint_positions) instead.
• With system image >= 5.9.0, the joint position limits of the system with libfranka are increased to match the datasheet. The methods franka::computeUpperLimitsJointVelocity(const std::array<double, 7UL> &q) and franka::computeLowerLimitsJointVelocity(const std::array<double, 7UL> &q) now impose stricter constraints compared to the new parametrized limits.

pylibfranka - Python

• Deployment of the pylibfranka to the github hosted web-page
• Pylibfranka and libfranka versions are synchronized

Full Changelog: 0.15.0...0.18.0

0.17.0

[0.17.0] - 2025-10-15
pylibfranka - Python
Added
Cartesian pose control interface

Full Changelog: 0.16.1...0.17.0

0.16.1

* fix: fix cmake and package versioning

0.16.0

Added pylibfranka - a python binding for libfranka.

0.15.3

Full Changelog: 0.15.2...0.15.3

• Fix outdated Emika links

0.15.2

Full Changelog: 0.15.1...0.15.2

• Optimize the model computation approx. 10x faster than the old implementation
• New coriolis function, faster computation but requires gravity vector from user.
• Deprecated: Old coriolis function is deprecated, switch to the new coriolis function it provides faster computation but requires the gravity vector from user.

0.15.0

0.15.0 - 2025-01-16

Requires Franka Research 3 System Version >= 5.7.2

• Improved error minimization for joint/cartesian pose velocities and accelerations.
• Updated joint position and cartesian pose examples to start from the initial q or O_T_EE.
• Fixed joint position and cartesian pose low-pass filters to use the same command in the first package.
• Added a general logger, allowing users to implement custom loggers for receiving log messages.
• Fixed the bug that prevented exit in case of network connection interruption.

Important

• The flags fci_joint_motion_generator_position_limits_violation_flag and fci_cartesian_motion_generator_joint_position_limits_violation_flag are now always set to false and will be deprecated in future releases. They will be replaced by joint_position_limits_violation.

BREAKING

• The previous CSV robot state logger has been renamed to robot_state_logger and relocated.

0.14.2

0.14.2