Franka Desk API Client

Simple python module to interact the Franka Robotics Desk API.

How to use it

Set your credentials

Be sure that your credentials are set as enviroment variables when running any script. Do not push any of these credentials to a repository! You can define a .env file in your home directory which looks like:

FRANKA_DESK_USERNAME=********
FRANKA_DESK_PASSWORD=********

and add the following lines to you .bashrc or .zshrc:

# Set env variables
if [ -f ~/.env ]; then
  export $(grep -v '^#' ~/.env | xargs)
fi

Enable the franka

To enable your franka (take control, unlock joints and enable fci) simply run:

uv run scripts/enable_franka.py <robot_ip>

or without using uv in a virtual enviroment:

pip install .
python scripts/enable_franka.py <robot_ip>

Collaborating

You want to add some other scripts? Create a PR.