eager-dev / eagerx_franka

EAGERx interface to franka robot arms.

eagerx_franka package

What is the eagerx_franka package

This repository interfaces franka robots with EAGERx. EAGERx (Engine Agnostic Graph Environments for Robotics) enables users to easily define new tasks, switch from one sensor to another, and switch from simulation to reality with a single line of code by being invariant to the physics engine.

The core repository is available here.

Full documentation and tutorials (including package creation and contributing) are available here.

Installation

You can install the package using pip:

pip3 install eagerx_franka

Requirements for usage with real Franka robot:

• ros noetic
• franka_human_friendly_controllers see installation instructions

Credits

The code within eagerx_franka.panda_ros is copied from panda_ros_py and from quaternion_algebra.

Cite EAGERx

If you are using EAGERx for your scientific publications, please cite:

@article{eagerx,
    author  = {van der Heijden, Bas and Luijkx, Jelle, and Ferranti, Laura and Kober, Jens and Babuska, Robert},
    title = {EAGERx: Engine Agnostic Graph Environments for Robotics},
    year = {2022},
    publisher = {GitHub},
    journal = {GitHub repository},
    howpublished = {\url{https://github.com/eager-dev/eagerx}}
}

Acknowledgements

EAGERx is funded by the OpenDR Horizon 2020 project.