A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.

A ROS/Python API for controlling and managing the Franka Emika Panda robot (real and simulated).

A ROS python interface for using the franka robot (requires franka_ros_interface). Simplified control and management API.

A ROS/Python API for controlling and managing the Franka Emika Panda robot. Contains exposed controllers for the robot (joint position, velocity, torque), interfaces for the gripper, controller manager, coordinate frames interface, etc.

This is how I'm keeping track of my progress in my master's thesis. Please beware that this is not yet a finished product.

🤖 🐼 🐍 a simple python interface for basic control of a real panda robot with moveit!

ROS package for the cobot pump using the libfranka middleware