This package contains all the ROS components needed for creating a Panda Emika Franka Gazebo simulation. It is used by the ros_gazebo_gym RL framework to create the Panda task environments. It wraps the franka_ros and panda_moveit_config packages to add the extra functionalities needed to train RL agents efficiently.
Since the repository contains several git submodules to use all the features, it needs to be cloned using the --recurse-submodules argument:
git clone --recurse-submodules https://github.com/rickstaa/panda-gazebo.gitIf you already cloned the repository and forgot the --recurse-submodule argument, you can pull the submodules using the following git command:
git submodule update --init --recursivePlease see the accompanying documentation for information on installing and using this package.
We use husky pre-commit hooks and github actions to enforce high code quality. Before contributing to this repository, please check the contribution guidelines.
Note
We used husky instead of pre-commit, which is more commonly used with Python projects. This was done because only some tools we wanted to use were possible to integrate the Please feel free to open a PR if you want to switch to pre-commit if this is no longer the case.