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A Python interface package built over the Franka ROS Interface package, combining its different classes to provide a unified interface for controlling and handling the Franka Emika Panda robot. Also works directly with Panda Simulator.
The package provides an extensive and unified API for controlling and managing the Franka Emika Robot (and gripper) using pre-defined low-level controllers (position, velocity, torque, joint impedance), MoveIt planners, and JointTrajectory action service.
NOTE: This version requires Franka ROS Interface v0.7.1 ('master'/'v0.7.1-dev' branch) to be installed. For usage with older versions, use Panda Robot branch v0.6.0 from Github.
- Provides simple-intuitive interface classes with methods to directly and easily control the robot using low-level controllers, MoveIt planners, or Trajectory action client.
- Get real-time robot state, joint state, controller state, kinematics, dynamics, etc.
- Provides Kinematics computation (using KDL library). Automatically adjusts computations for the end-effector frames set in Dash or by code.
- Integrated with gripper control.
- Manage frames transformation and controller switching using simple utility functions.
- Works directly on simulated robot when using Panda Simulator providing direct sim-to-real and real-to-sim code transfer.
DOCUMENTATION: https://justagist.github.io/panda_robot/
Watch video here
Watch video here