JeanElsner · JeanElsner · May 26, 2025 · May 27, 2025 · May 27, 2025 · May 27, 2025
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -15,7 +15,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.13.3"]
+        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.12.1", "0.13.6", "0.14.2", "0.15.0"]
     steps:
       - uses: actions/checkout@v3
       - uses: actions/setup-python@v3
@@ -39,11 +39,11 @@ jobs:
       - name: Build documentation
         run: cd docs && make html
       - name: Setup Pages
-        uses: actions/configure-pages@v3
+        uses: actions/configure-pages@v5
       - name: Upload artifact
-        uses: actions/upload-pages-artifact@v2
+        uses: actions/upload-pages-artifact@v3
         with:
           path: ./docs/_build/html
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v2
+        uses: actions/deploy-pages@v4
diff --git a/.github/workflows/pull_request.yml b/.github/workflows/pull_request.yml
@@ -9,7 +9,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.13.3"]
+        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.12.1", "0.13.6", "0.14.2", "0.15.0"]
     steps:
       - uses: actions/checkout@v3
       - uses: actions/setup-python@v3

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -5,7 +5,7 @@ on:
     types: [published]
 
 env:
-  VERSION: 0.8.1
+  VERSION: 1.0.0
 
 permissions: write-all
 
@@ -15,7 +15,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.13.3"]
+        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.12.1", "0.13.6", "0.14.2", "0.15.0"]
     steps:
       - uses: actions/checkout@v3
       - uses: actions/setup-python@v3
@@ -52,7 +52,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.13.3"]
+        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.12.1", "0.13.6", "0.14.2", "0.15.0"]
     steps:
       - uses: actions/download-artifact@v3
         with:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,10 +8,10 @@ set (CMAKE_CXX_STANDARD 17)
 set(CMAKE_BUILD_TYPE "Release")
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 
-option(VACUUM_GRIPPER OFF)
-if (VACUUM_GRIPPER)
-  add_definitions(-DVACUUM_GRIPPER=${VACUUM_GRIPPER})
+if(NOT DEFINED LIBFRANKA_VER)
+    message(FATAL_ERROR "LIBFRANKA_VER must be set! (e.g., -DLIBFRANKA_VER=0x000f00)")
 endif()
+add_compile_definitions(LIBFRANKA_VER=${LIBFRANKA_VER})
 
 find_package(Eigen3 REQUIRED)
 find_package(Threads REQUIRED)
@@ -65,7 +65,9 @@ target_link_libraries(libfranka PUBLIC
 )
 
 target_include_directories(libfranka SYSTEM PUBLIC
+  include
   ${Franka_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
 #target_compile_definitions(libfranka

diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-<div align="center"><img alt="panda-py Logo" src="https://raw.githubusercontent.com/JeanElsner/panda-py/main/logo.jpg" /></div>
+<div align="center"><img alt="panda-py Logo" src="https://raw.githubusercontent.com/JeanElsner/panda-py/main/logo.png" /></div>
 
 <h1 align="center">panda-py</h1>
 
@@ -30,12 +30,22 @@ This will install panda-py and all its requirements. The pip version ships with
 
 ## libfranka Version
 
-There are currently two robot models available from Franka Emika: the Franka Emika Robot (FER, formerly known as Panda) and the Franka Research 3 (FR3). Depending on the installed firmware, the FER supports version <0.10 while the FR3 requires version >=0.10. For details, refer to [this](https://frankaemika.github.io/docs/compatibility.html) compatibility matrix. If you need a libfranka version different from the default 0.9.2, download the respective zip archive from the [release page](https://github.com/JeanElsner/panda-py/releases). Extract the archive and install the wheel for your Python version with pip, e.g., run
+There are currently two robot models available from Franka Robotics: the Franka Emika Robot (FER, formerly known as Panda) and the Franka Research 3 (FR3). Depending on the installed firmware, the FER supports libfranka version <0.10 while the FR3 requires version >=0.10. For details, refer to [this](https://frankaemika.github.io/docs/compatibility.html) compatibility matrix. If you need a libfranka version different from the default 0.9.2, download the respective zip archive from the table below. Extract the archive and install the wheel for your Python version with pip, e.g., run
 ```
 pip install panda_python-*libfranka.0.7.1-cp310*.whl
 ```
 to install the binary wheel for libfranka 0.7.1 and Python 3.10.
 
+| Robot System Version | libfranka Version of panda-py |
+| ---- | ---- |
+| >= 5.7.2 | [panda_py_1.0.0_libfranka_0.15.0.zip](https://github.com/JeanElsner/panda-py/releases/download/v1.0.0/panda_py_1.0.0_libfranka_0.15.0.zip) |
+| >= 5.7.0 | [panda_py_1.0.0_libfranka_0.14.2.zip](https://github.com/JeanElsner/panda-py/releases/download/v1.0.0/panda_py_1.0.0_libfranka_0.14.2.zip) |
+| >= 5.5.0 | [panda_py_1.0.0_libfranka_0.13.6.zip](https://github.com/JeanElsner/panda-py/releases/download/v1.0.0/panda_py_1.0.0_libfranka_0.13.6.zip) |
+| >= 5.2.0 | [panda_py_1.0.0_libfranka_0.12.1.zip](https://github.com/JeanElsner/panda-py/releases/download/v1.0.0/panda_py_1.0.0_libfranka_0.12.1.zip) |
+| >= 4.2.1 | [panda_py_1.0.0_libfranka_0.9.2.zip](https://github.com/JeanElsner/panda-py/releases/download/v1.0.0/panda_py_1.0.0_libfranka_0.9.2.zip) |
+| >= 4.0.0 | [panda_py_1.0.0_libfranka_0.8.0.zip](https://github.com/JeanElsner/panda-py/releases/download/v1.0.0/panda_py_1.0.0_libfranka_0.8.0.zip) |
+| >= 3.0.0 | [panda_py_1.0.0_libfranka_0.7.1.zip](https://github.com/JeanElsner/panda-py/releases/download/v1.0.0/panda_py_1.0.0_libfranka_0.7.1.zip) |
+
 # Citation
 
 If you use panda-py in published research, please consider citing the [original software paper](https://www.sciencedirect.com/science/article/pii/S2352711023002285).

diff --git a/bin/before_install_centos.sh b/bin/before_install_centos.sh
@@ -1,16 +1,60 @@
 #! /bin/bash
 
-sed -i 's/enabled=1/enabled=0/g' /etc/yum/pluginconf.d/fastestmirror.conf
-sed -i 's/^mirrorlist/#mirrorlist/g' /etc/yum.repos.d/*.repo
-sed -i 's;^.*baseurl=http://mirror;baseurl=https://vault;g' /etc/yum.repos.d/*.repo
-fixup-mirrors
-yum -y update
-fixup-mirrors
-
-yum install -y openssl-devel
+yum install -y eigen3-devel boost-devel openssl-devel
+
+# Function to compare version numbers (returns true if first version >= second version)
+version_ge() { 
+    test "$(printf '%s\n' "$@" | sort -rV | head -n 1)" == "$1";
+}
+
+# Only install these dependencies for libfranka versions >= 0.14.0
+if version_ge "$LIBFRANKA_VER" "0.14.0"; then
+    git clone --branch 11.2.0 https://github.com/fmtlib/fmt.git
+    cd fmt && mkdir fmt && cd fmt
+    cmake -DCMAKE_POSITION_INDEPENDENT_CODE=TRUE ..
+    make
+    make install
+    cd ../..
+
+    git clone --branch 1.0.5 https://github.com/ros/urdfdom_headers.git
+    cd urdfdom_headers && mkdir build && cd build
+    cmake .. -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_LIBDIR=/usr/lib -DCMAKE_POLICY_VERSION_MINIMUM=3.5
+    make
+    make install
+    cd ../..
+
+    git clone --branch 10.0.0 https://github.com/leethomason/tinyxml2.git
+    cd tinyxml2 && mkdir build && cd build
+    cmake .. -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_LIBDIR=/usr/lib -DCMAKE_POSITION_INDEPENDENT_CODE=ON
+    make
+    make install
+    cd ../..
+
+    git clone --branch 1.0.2 https://github.com/ros/console_bridge.git
+    cd console_bridge && mkdir build && cd build
+    cmake .. -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_LIBDIR=/usr/lib -DCMAKE_POLICY_VERSION_MINIMUM=3.5 
+    make
+    make install
+    cd ../..
+
+    git clone --branch 4.0.0 https://github.com/ros/urdfdom.git
+    cd urdfdom && mkdir build && cd build
+    cmake .. -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_LIBDIR=/usr/lib
+    make
+    make install
+    cd ../..
+
+    git clone --recursive --branch v2.7.0 https://github.com/stack-of-tasks/pinocchio.git
+    cd pinocchio && mkdir build && cd build
+    cmake .. -DBUILD_TESTING=OFF -DBUILD_PYTHON_INTERFACE=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib
+    make -j4
+    make install
+    cd ../..
+fi
+
 git clone https://github.com/pocoproject/poco.git
 cd poco
-git checkout poco-1.9.2-release # focal, jammy uses 1.11.0
+git checkout poco-1.11.0-release
 mkdir cmake-build
 cd cmake-build
 cmake \
@@ -41,12 +85,11 @@ if [[ "$LIBFRANKA_VER" == "0.7.1" || "$LIBFRANKA_VER" == "0.8.0" ]]; then
   repo="https://github.com/JeanElsner/libfranka.git"
 fi
 
-yum install -y eigen3-devel boost-devel
 git clone --recursive $repo
 cd libfranka
 git checkout $LIBFRANKA_VER
 git submodule update
 mkdir build && cd build
-cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF ..
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF -DCMAKE_POLICY_VERSION_MINIMUM=3.5 ..
 cmake --build .
 make install
diff --git a/bin/build.sh b/bin/build.sh
@@ -29,22 +29,16 @@ echo "Current version is $version"
 
 change_version() {
   local pandapy_version="$version+libfranka-$1"
-  local libfranka_version="LIBFRANKA_VER=$1"
-  local vacuum_gripper="ON"
-
-  if [[ "$1" == "0.7.1" ]]; then
-    vacuum_gripper="OFF"
-  fi
-  echo "VACUUM_GRIPPER: $vacuum_gripper"
+  local version_num=$(echo "$1" | awk -F. '{ printf "0x%02x%02x%02x", $1, $2, $3 }')
   python <<END
 import toml
 
 with open('$toml', 'r') as f:
     data = toml.load(f)
 
 data['project']['version'] = '$pandapy_version'
-data['tool']['cibuildwheel']['environment'] = '$libfranka_version'
-data['tool']['scikit-build']['cmake']['define']['VACUUM_GRIPPER'] = '$vacuum_gripper'
+data['tool']['cibuildwheel']['environment'] = 'LIBFRANKA_VER=$1'
+data['tool']['scikit-build']['cmake']['define']['LIBFRANKA_VER'] = '$version_num'
 
 with open('$toml', 'w') as f:
     toml.dump(data, f)

diff --git a/docs/conf.py b/docs/conf.py
@@ -9,7 +9,7 @@
 project = 'panda-py'
 copyright = '2023, Jean Elsner'
 author = 'Jean Elsner'
-release = '0.8.1'
+release = '1.0.0'
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration

diff --git a/logo.jpg b/logo.jpg
diff --git a/logo.png b/logo.png
diff --git a/pyproject.toml b/pyproject.toml
@@ -1,48 +1,44 @@
 [build-system]
-requires = [ "scikit-build-core", "pybind11@git+https://github.com/pybind/pybind11.git@master"]
+requires = [ "scikit-build-core", "pybind11",]
 build-backend = "scikit_build_core.build"
 
 [project]
 name = "panda-python"
-version = "0.8.1"
+version = "1.0.0"
 description = "Python bindings for the Panda robot"
-requires-python = ">=3.7"
-dependencies = ["websockets>=11.0", "requests", "numpy"]
+requires-python = ">=3.9"
+dependencies = [ "websockets>=11.0", "requests", "numpy>=2.0",]
 authors = [
     { name = "Jean Elsner", email = "jean.elsner@tum.de" },
 ]
 license = {file = "LICENSE"}
 readme = "README.md"
-keywords = ["python", "real-time", "control", "robot", "franka", "emika"]
+keywords = [ "python", "real-time", "control", "robot", "franka", "emika", "panda"]
 classifiers = [
-        "Intended Audience :: Science/Research",
-        "Intended Audience :: Developers",
-        "License :: OSI Approved :: Apache Software License",
-        "Topic :: Scientific/Engineering",
-        "Programming Language :: Python :: 3.7",
-        "Programming Language :: Python :: 3.8",
-        "Programming Language :: Python :: 3.9",
-        "Programming Language :: Python :: 3.10",
-        "Programming Language :: Python :: 3.11",
-        "Programming Language :: Python :: 3.12",
+    "Intended Audience :: Science/Research", 
+    "Intended Audience :: Developers", 
+    "License :: OSI Approved :: Apache Software License", 
+    "Topic :: Scientific/Engineering", 
+    "Programming Language :: Python :: 3.9", 
+    "Programming Language :: Python :: 3.10", 
+    "Programming Language :: Python :: 3.11", 
+    "Programming Language :: Python :: 3.12",
 ]
 
 [project.optional-dependencies]
-examples = [
-    "roboticstoolbox-python",
-    "matplotlib",
-    "spatialmath-python",
-    "ansitable",
+examples = [ 
+    "roboticstoolbox-python", 
+    "matplotlib", 
+    "spatialmath-python", 
+    "ansitable", 
     "qpsolvers",
 ]
-docs = [
-    "furo",
-    "sphinx-reredirects",
+docs = [ 
+    "furo", 
+    "sphinx-reredirects", 
     "sphinx",
 ]
-dev = [
-    "pybind11-stubgen",
-]
+dev = [ "pybind11-stubgen",]
 
 [project.scripts]
 panda-lock = "panda_py.cli:lock"
@@ -53,7 +49,7 @@ panda-release-control = "panda_py.cli:release_control"
 
 [tool.cibuildwheel]
 manylinux-x86_64-image = "manylinux2014"
-build = [ "cp37-*", "cp38-*", "cp39-*", "cp310-*", "cp311-*", "cp312-*",]
+build = [ "cp39-*", "cp310-*", "cp311-*", "cp312-*",]
 skip = [ "pp*", "*musllinux*",]
 environment = "LIBFRANKA_VER=0.9.2"
 
@@ -65,7 +61,7 @@ archs = [ "x86_64",]
 build-type = "Release"
 
 [tool.scikit-build.wheel]
-packages = ["src/panda_py"]
+packages = [ "src/panda_py",]
 
 [tool.scikit-build.cmake.define]
-VACUUM_GRIPPER = "ON"
+LIBFRANKA_VER = "0x000902"
diff --git a/src/libfranka.cpp b/src/libfranka.cpp
@@ -10,10 +10,14 @@
 
 #include <sstream>
 
-#ifdef VACUUM_GRIPPER
+#if LIBFRANKA_VER >= 0x000800
 #include <franka/vacuum_gripper.h>
 #endif
 
+#if LIBFRANKA_VER >= 0x000e00
+#include <franka/robot_model.h>
+#endif
+
 #define PYBIND11_DETAILED_ERROR_MESSAGES 1
 
 #define def_readonly_franka_robotstate(name) \
@@ -245,6 +249,18 @@ PYBIND11_MODULE(libfranka, m) {
                &franka::Model::gravity, py::const_),
            py::arg("robot_state"), py::arg("gravity_earth") = gravity_earth);
 
+  #if LIBFRANKA_VER >= 0x000e00
+  py::class_<franka::RobotModel>(m, "RobotModel")
+      .def(py::init<const std::string &>(),
+           py::arg("urdf"))
+      .def("coriolis", &franka::RobotModel::coriolis,
+        py::arg("q"), py::arg("dq"), py::arg("i_total"), py::arg("m_total"), py::arg("f_x_ctotal"), py::arg("c_ne"))
+      .def("gravity", &franka::RobotModel::gravity,
+        py::arg("q"), py::arg("g_earth"), py::arg("m_total"), py::arg("f_x_ctotal"), py::arg("g_ne"))
+      .def("mass", &franka::RobotModel::mass,
+        py::arg("q"), py::arg("i_total"), py::arg("m_total"), py::arg("f_x_ctotal"), py::arg("m_ne"));
+  #endif
+
   py::enum_<franka::RealtimeConfig>(m, "RealtimeConfig")
       .value("kEnforce", franka::RealtimeConfig::kEnforce)
       .value("kIgnore", franka::RealtimeConfig::kIgnore);
@@ -307,7 +323,11 @@ PYBIND11_MODULE(libfranka, m) {
            py::arg("log_size") = 50)
       .def("read", &franka::Robot::read)
       .def("read_once", &franka::Robot::readOnce)
+      #if LIBFRANKA_VER >= 0x000e00
+      .def("load_model", py::overload_cast<>(&franka::Robot::loadModel))
+      #else
       .def("load_model", &franka::Robot::loadModel)
+      #endif
       .def("server_version", &franka::Robot::serverVersion)
       .def("control",
            py::overload_cast<std::function<franka::Torques(
@@ -454,7 +474,7 @@ PYBIND11_MODULE(libfranka, m) {
            py::call_guard<py::gil_scoped_release>())
       .def("read_once", &franka::Gripper::readOnce);
 
-#ifdef VACUUM_GRIPPER
+  #if LIBFRANKA_VER >= 0x000800
   py::enum_<franka::VacuumGripperDeviceStatus>(m, "VacuumGripperDeviceStatus")
       .value("kGreen", franka::VacuumGripperDeviceStatus::kGreen)
       .value("kYellow", franka::VacuumGripperDeviceStatus::kYellow)

diff --git a/src/panda_py/__init__.py b/src/panda_py/__init__.py
@@ -32,7 +32,7 @@
     'fk', 'ik', 'ik_full', 'Desk', 'TOKEN_PATH'
 ]
 
-__version__ = '0.8.1'
+__version__ = '1.0.0'
 
 _logger = logging.getLogger('desk')
 

diff --git a/src/panda_py/__init__.pyi b/src/panda_py/__init__.pyi
@@ -234,5 +234,5 @@ class Token:
 
 
 TOKEN_PATH: str = '~/.panda_py/token.conf'
-__version__: str = '0.8.1'
+__version__: str = '1.0.0'
 _logger: logging.Logger  # value = <Logger desk (INFO)>