franka_toolkit

A small collection of independent tools for the Franka FR3 cell. Not a single project — each top-level entry is meant to be used on its own.

Layout

Path	What it is	How to use
planning/	Git submodule pointing at upstream Bimanual-Franka-Planning. Provides bimanual_franka_planning (OMPL+VAMP motion planner, TRAC-IK, TOTG).	pip install -e ./planning
calibration/	Standalone single-arm hand-eye calibration. Replaces easy_handeye + MoveIt + aruco_ros with MotionPlanner + cv2.aruco + cv2.calibrateHandEye.	pip install -e ./calibration, then python calibration/calibration_node.py
single_arm_node.py	Single-arm FR3 ROS node — runs the OMPL+VAMP planner against the real hardware via ros_interfaces.	python single_arm_node.py
dual_arm_node.py	Dual-arm equivalent of the above.	python dual_arm_node.py

First-time setup

git clone --recursive <this-repo>
# or, if you already cloned without --recursive:
git submodule update --init --recursive

# Install the planning submodule (builds the C++ extensions in place).
pip install -e ./planning

# Install the calibration module.
pip install -e ./calibration

The planning submodule's editable install needs a C++ toolchain and the build dependencies listed in its own README. The pixi flow inside the submodule is for upstream development only — you do not need pixi to use this toolkit.

Constraints

• Python ≥ 3.10
• numpy < 2 (pinned by urdf2casadi<1.2 inside the planning submodule and by the calibration module explicitly)
• ROS 1 Noetic on the runtime host (for the *_node.py scripts and for calibration_node.py)

Updating the planning submodule

git -C planning fetch
git -C planning checkout main
git -C planning pull
git add planning && git commit -m "planning: bump submodule"