panda_simulator: Gazebo simulator for Franka Emika Panda robot supporting sim-to-real code transfer
Saif Sidhik · Zenodo (CERN European Organization for Nuclear Research) · 2020
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.