Franka 
=============

Bota Systems offers an example integration of **Bota Systems SensONE** with **Franka Robotics FR3** platform through a ROS2-based architecture.

Hardware Requirements
^^^^^^^^^^^^^^^^^^^^^
The integration requires two main components for seamless compatibility:

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         <h4 style="color: #495057; margin: 0 0 15px 0; font-size: 18px; font-weight: 700;">Bota Systems Integration Kit</h4>
         <p style="color: #6c757d; margin: 0 0 15px 0; font-size: 16px; line-height: 1.5;">
           Complete sensor and cable solution specifically designed for Franka FR3 integration
         </p>
         <a href="https://shop.botasys.com/shop/franka-fr3-sensone-kit-2074?category=1#attr=309,313" target="_blank" style="background: #da6527; color: white; padding: 10px 20px; text-decoration: none; border-radius: 6px; font-weight: 600; font-size: 14px; display: inline-block; transition: all 0.2s ease;">
           Visit our shop →
         </a>
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         <h4 style="color: #495057; margin: 0 0 15px 0; font-size: 18px; font-weight: 700;">Franka Research 3 (FR3)</h4>
         <p style="color: #6c757d; margin: 0 0 15px 0; font-size: 16px; line-height: 1.5;">
           Advanced collaborative robot platform with 7 degrees of freedom
         </p>
         <a href="https://franka.de/franka-research-3" target="_blank" style="background: #6c757d; color: white; padding: 10px 20px; text-decoration: none; border-radius: 6px; font-weight: 600; font-size: 14px; display: inline-block; transition: all 0.2s ease;">
           Learn More →
         </a>
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.. figure:: /_static/images/franka_kit.avif
   :alt: Franka Integration Kit Components
   :align: center
   :width: 300px


Features
^^^^^^^^^

The software integration provides the foundations for a professional-grade solution:

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           <li style="margin-bottom: 8px;"><strong>ros2_control</strong> based architecture</li>
           <li style="margin-bottom: 8px;"><strong>BotaDriver</strong> and <strong>libfranka</strong> integration</li>
           <li style="margin-bottom: 8px;">Real-time performance</li>
           <li style="margin-bottom: 8px;">Safety mechanisms</li>
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The integration example is based on a **pre-configured ROS2 development container**, which includes all necessary dependencies and tools for immediate development.

The following example controllers are included:

- **Hand guidance** - admittance control
- **Force tracking** - direct force control
- **Teleoperation** - with haptic feedback


Getting Started
^^^^^^^^^^^^^^^^

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         Complete ROS2 integration with ready-to-use development environment. 
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     <div style="text-align: center;">
       <a href="https://gitlab.com/botasys/robot_apps/bota_franka_ros2" target="_blank" style="background: #da6527; color: white; padding: 15px 30px; text-decoration: none; border-radius: 8px; font-weight: 600; font-size: 18px; display: inline-block; transition: all 0.3s ease; box-shadow: 0 4px 15px rgba(218, 101, 39, 0.2);" onmouseover="this.style.background='#b8541f'; this.style.transform='translateY(-2px)'; this.style.boxShadow='0 6px 20px rgba(218, 101, 39, 0.3)'" onmouseout="this.style.background='#da6527'; this.style.transform='translateY(0)'; this.style.boxShadow='0 4px 15px rgba(218, 101, 39, 0.2)'">
         → Go to the GitLab Repository
       </a>
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