Robot Control & Motion Planning
Tools and frameworks for controlling Franka robots, focusing on real-time control libraries, motion planning, and trajectory generation.
- Deoxys [link] | Python interface with real-time C++ controllers for Franka robots, ideal for robot learning and visuomotor tasks.
- Frankx [link] | High-level C++ and Python motion library for real-time trajectory generation.
- Franky [link 1] [link2] | Simplifies real-time motion generation through intuitive C++ and Python interfaces.
- Polymetis [link] | A high-level robotics control stack for learning-based manipulation.
- Franka ROS Interface [link] | Customizable ROS controllers for seamless transfer between real and simulated robots.
- Galaxy Franka Driver [link] | C++ driver and Python Web API for local and remote robot control.
- Panda-py [link1] [link2] | A Python bindings for real-time control of Franka robots.
- Franka R [link] | A ROS-based API for controlling Franka robots, with added focus on customized collision handling.
- Ruckig [link] | Real-time trajectory generation library that optimizes robot paths based on sensor inputs.
- Pick and Place tutorial with Franka Emika Panda robot [link] | Path planning for pick-and-place tasks using the RRT algorithm.
- Pick and Place Using RRT for Manipulators [link] | Step-by-step guide for using MoveIt for pick-and-place tasks.
- The Robotics Toolbox for Python [link] | Provides tools for modeling, simulating, and controlling robotic systems, including kinematics, path planning, and localization
Robotics Simulation and Environment Tools
Tools that help simulate and test Franka robots in virtual environments, supporting real-time interaction, reinforcement learning, and various simulation capabilities.
- Panda Simulator [link] | Gazebo-based simulator for Franka Emika Panda with full ROS interface support for realistic state feedback.
- PyBullet Simulation of Franka Emika Panda 7-DOF Robot [link] Physics-based simulation of Franka Panda for movement, inverse dynamics, and gravity compensation.
- Panda Gym [link] | a set of robotic environments based on PyBullet physics engine and gymnasium.
- Franka Robotics RL Environment Tutorial [link] | A tutorial for setting up custom reinforcement learning environments using Franka robots.
- Franka Kitchen [link] | A robot simulation environment where Franka robots perform kitchen-related tasks using reinforcement and imitation learning techniques.
- Rocksi [link1] [link2] | A web-based simulator using Blockly programming, perfect for beginners to learn robotics concepts with Franka robots.
- Franka Robot | Isaac Sim Robotics Tutorial [link] | A tutorial on simulating and controlling Franka robots using Isaac Sim’s environment.
- Nvidia Isaac SIM / Lab [link1] [link2] | A step-by-step guide to simulating and controlling Franka robots in Isaac Sim, offering insights for real-time robotic simulation.
- MoveIt Control Franka Robot in Isaac ROS [link] | A blog tutorial that demonstrates how to simulate and control a Franka robot arm in NVIDIA Isaac using MoveIt, with synchronization between ROS and the Omniverse simulation platform for realistic control.
Learning Environments and Datasets
Resources that support the training of robots, including reinforcement learning environments and large-scale datasets for robot manipulation tasks.
- RLBench [link] | A comprehensive benchmark for research in vision-guided manipulation, supporting RL, imitation learning, and more.
- DROID [link] | A diverse dataset with over 76,000 robot manipulation demonstrations, helping to advance robotic learning policies.
- Open X-Embodiment [link] | Large-scale datasets and models for creating generalist robotic manipulation policies across multiple platforms.
Calibration and Control Methods
Tools and methodologies for improving the accuracy and functionality of Franka robots through precise calibration and advanced control methods.
- Calibration of robot kinematics [link] | Provides methods for calibrating the kinematics of Franka robots, ensuring high accuracy in positioning.
- Interface of Python for the Human-Friendly Impedance Controller [link] | Python classes for controlling Franka robots with an impedance control approach using ROS.
Miscellaneous Resources
This category includes a variety of useful resources such as models and hardware for different Franka applications.
- 3D Camera Holder [link] | Ready-to-print 3D models to attach cameras like the Intel RealSense or generic ¼“ cameras to your Franka robot.
- SOLIDWORKS® Model [link] | A fully movable 3D model of the Arm, Hand and control – to simulate the robot in your work environment, test its reach and visualize the system in combination with additional equipment.
