Published April 10, 2020
| Version v1.0.0
Software
Open
panda_simulator: Gazebo simulator for Franka Emika Panda robot supporting sim-to-real code transfer
Description
A Gazebo simulator for the Franka Emika Panda robot with ROS interface, providing exposed controllers and real-time robot state feedback similar to the real robot when using the franka_ros_interface package.
- Low-level controllers (joint position, velocity, torque) available that can be controlled through ROS topics (including position control for gripper).
- Real-time robot state (end-effector state, joint state, controller state, etc.) available through ROS topics.
- The franka_ros_interface package (which is a ROS interface for controlling the real Panda robot) can also be used with the panda_simulator, providing direct sim-to-real code transfer. Python API also available.
- Supports MoveIt planning and control for Franka Panda Emika robot and arm and Franka Gripper.
Files
justagist/panda_simulator-v1.0.0.zip
Files
(8.7 MB)
Name | Size | Download all |
---|---|---|
md5:7e2ad819384326131badd0c0eff400af
|
8.7 MB | Preview Download |
Additional details
Related works
- Is supplement to
- https://github.com/justagist/panda_simulator/tree/v1.0.0 (URL)