franka_rust is a Rust driver for Franka robots in the Robot-Exp driver stack. It connects Franka FCI to the common robot_behavior traits, so the same motion, control, model and roplat orchestration ...

existing JAX `_neg_ll_mv_exp` reference to ~1e-10 across many seeds. Layout: both the Rust and JAX paths use the same flat coefficient ordering for the joint-decay ...