docs: added libfranka version documentation

Author: juelg

README.md

@@ -122,18 +122,21 @@ if __name__ == "__main__":
 > **Note:** This and other examples can be found in the [`examples/`]() folder.
 
 ## 🛠️ Installation
+* *For Python >3.11: The `rcs_realsense` extension won't work due to the `pyrealsense2` version RCS utilizes.*
+* *For Python >3.12: The `ompl` python module is currently not available on PyPI. If OMPL is not used, it is safe to remove this dependency in `pyproject.toml`.*
+### Via PyPI/pip
+
+```shell
+pip install rcs-core
+```
 
 ### From Source
 
 Make sure that common build tools (i.e., `build-essential`) and a C++ compiler like `gcc` or `clang` are installed on your system/conda/docker.
 
 *RCS works best in Python 3.11, and all extensions have been tested to work in 3.11.*
 
-* *For Python >3.11: The `rcs_realsense` extension won't work due to the `pyrealsense2` version RCS utilizes.*
-* *For Python >3.12: The `ompl` python module is currently not available on PyPI. If OMPL is not used, it is safe to remove this dependency in `pyproject.toml`.*
-
 ```shell
-
 # clone repository
 git clone https://github.com/RobotControlStack/robot-control-stack.git
 cd robot-control-stack
@@ -151,11 +154,6 @@ pip install --group build_deps
 pip install -ve . --no-build-isolation
 ```
 
-### Via PyPI/pip
-
-```shell
-pip install rcs-core
-```
 
 ### RCS Asset Cache
 
@@ -198,6 +196,7 @@ For full documentation, including advanced installation, modular usage, and API
 Useful quick-reference pages:
 - **[RCS Conventions](https://robotcontrolstack.org/user_guide/conventions)** for quaternion order, frames, Euler angles, and gripper semantics
 - **[Sim Scene Configuration](https://robotcontrolstack.org/user_guide/scene_configuration)** for `SimEnvCreatorConfig`, scene frames, and example setup patterns
+- **[libfranka Version Info](https://robotcontrolstack.org/extensions/libfranka_versions)** for the currently pinned `rcs_fr3` and `rcs_panda` `libfranka` versions and local-install guidance
 
 ## 🤝 Contribution
 

docs/extensions/index.md

@@ -4,6 +4,7 @@
 :maxdepth: 2
 
 overview
+libfranka_versions
 rcs_fr3
 rcs_panda
 rcs_xarm7

docs/extensions/libfranka_versions.md

@@ -0,0 +1,18 @@
+# libfranka Versions
+
+This page documents the `libfranka` version currently pinned by the RCS Franka extensions in their CMake configuration.
+
+## `rcs_fr3`
+
+- Current `libfranka` version: `0.20.3`
+- CMake source: [extensions/rcs_fr3/CMakeLists.txt](https://github.com/RobotControlStack/robot-control-stack/blob/main/extensions/rcs_fr3/CMakeLists.txt)
+- Note: this information reflects the current CMake pin and may become outdated if the version is bumped in a future change.
+
+When installing `rcs-fr3` from PyPI, this `libfranka` version is fixed by the published package. If you need to change the `libfranka` version, use a local source install and update the CMake configuration there.
+
+## `rcs_panda`
+
+- Current `libfranka` version: `0.9.2`
+- CMake source: [extensions/rcs_panda/CMakeLists.txt](https://github.com/RobotControlStack/robot-control-stack/blob/main/extensions/rcs_panda/CMakeLists.txt)
+
+When installing `rcs-panda` from PyPI, this `libfranka` version is fixed by the published package. If you need to change the `libfranka` version, use a local source install and update the CMake configuration there.

extensions/rcs_fr3/README.md

@@ -34,6 +34,8 @@ pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_fr3 --no-build-isolation
 ```
 
+For `libfranka` version details, see <https://robotcontrolstack.org/extensions/libfranka_versions>.
+
 Add your FR3 Desk credentials to a `.env` file:
 
 ```env

extensions/rcs_fr3/pyproject.toml

@@ -32,6 +32,9 @@ build-dir = "build"
 wheel.packages = ["src/rcs_fr3"]
 install.components = ["python_package"]
 
+[tool.cibuildwheel]
+skip = ["cp314*", "*-musllinux*"]
+
 [tool.black]
 line-length = 120
 target-version = ["py310"]

extensions/rcs_panda/README.md

@@ -34,6 +34,8 @@ pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_panda --no-build-isolation
 ```
 
+For `libfranka` version details, see <https://robotcontrolstack.org/extensions/libfranka_versions>.
+
 Add your Panda Desk credentials to a `.env` file:
 
 ```env

extensions/rcs_panda/pyproject.toml

@@ -31,6 +31,9 @@ build-dir = "build"
 wheel.packages = ["src/rcs_panda"]
 install.components = ["python_package"]
 
+[tool.cibuildwheel]
+skip = ["cp314*", "*-musllinux*"]
+
 [tool.black]
 line-length = 120
 target-version = ["py310"]