# 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- Note: this information reflects the current CMake pin and may become outdated if the version is bumped in a future change.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.