ar-mine / franka_panda_RL

Continental Project(Manipulator Part)

franka_panda_RL

Description

This is a repo for Continental-NTU A6 Project(Manipulator Part) based on the ROS2. So far, it provides two pipelines and some modules will be replaced by advanced module:

• The pipeline to combine physical robot arm and virtual reinforcement learning environment;
• A demo of human demonstration case study;

Branch(Alpha)

The branch will make the documents and codes more standard from four aspects:

• Add comments in the codes as detailed as possible;
• Check functions and ensure them as complete as possible;
• Separate the long file to modules to improve reusability and decrease redundance;
• Add TODO list for further check;

Packages/Modules

franka_action_interface

It includes description files of customized ROS action, which will be used in other packages.

franka_control

A ROS2 package used to control the franka robot mainly based on Moveit and C++.

franka_gym

A ROS2 package for reinforcement learning and is coded based on Python.

franka_perception and franka_vision

Actually, they are the same and one is based on C++ while another is wirtten by Python. Maybe they will be merged into one in the future.