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A python interface for using the franka robot (requires franka_ros_interface)

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Panda Robot (ROS Python)

A Python interface package built over the franka_ros_interface package for controlling and handling the Franka Emika Panda robot. Also works directly with panda_simulator.

Dependency

Features

  • Provides simple-intuitive interface classes with methods to directly and easily control the robot.
  • Get real-time robot state, joint state, controller state, kinematics, dynamics, etc.
  • Provides Kinematics computation (using KDL library).
  • 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.

See example scripts for usage. Detailed documentation in source files.

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A python interface for using the franka robot (requires franka_ros_interface)

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  • Python 98.9%
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