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Published April 10, 2020 | Version v1.0.0
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panda_simulator: Gazebo simulator for Franka Emika Panda robot supporting sim-to-real code transfer

  • 1. IRLab, University of Birmingham


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.



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