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.
- franka_ros_interface package
- 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.