https://github.com/rickstaa/panda-gazebo

A reinforcement learning-oriented Panda Emika Franka gazebo simulation.
https://github.com/rickstaa/panda-gazebo

emika-franka gazebo gym-environments gymnasium openai-gym panda python reinforcement-learning ros simulation

Last synced: 4 months ago
JSON representation

A reinforcement learning-oriented Panda Emika Franka gazebo simulation.

• Host: GitHub
• URL: https://github.com/rickstaa/panda-gazebo
• Owner: rickstaa
• License: mit
• Created: 2021-04-02T10:07:05.000Z (about 4 years ago)
• Default Branch: noetic
• Last Pushed: 2024-03-24T18:36:11.000Z (about 1 year ago)
• Last Synced: 2025-02-01T15:22:51.462Z (4 months ago)
• Topics: emika-franka, gazebo, gym-environments, gymnasium, openai-gym, panda, python, reinforcement-learning, ros, simulation
• Language: Python
• Homepage: https://rickstaa.dev/panda-gazebo/
• Size: 8.78 MB
• Stars: 15
• Watchers: 2
• Forks: 2
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE
  • Citation: CITATION.cff

Awesome Lists containing this project

README

        
# Panda Gazebo

[![Panda Gazebo](https://github.com/rickstaa/panda-gazebo/actions/workflows/panda_gazebo.yml/badge.svg)](https://github.com/rickstaa/panda-gazebo/actions/workflows/panda_gazebo.yml)

[![ROS Test](https://github.com/rickstaa/panda-gazebo/actions/workflows/ros_test.yml/badge.svg?branch=noetic)](https://github.com/rickstaa/panda-gazebo/actions/workflows/ros_test.yml)

[![GitHub release (latest by date)](https://img.shields.io/github/v/release/rickstaa/panda-gazebo)](https://github.com/rickstaa/panda-gazebo/releases)

[![Python 3](https://img.shields.io/badge/Python->=3.8-brightgreen)](https://www.python.org/)

[![ROS version](https://img.shields.io/badge/ROS%20versions-Noetic-brightgreen)](https://wiki.ros.org)

[![Contributions](https://img.shields.io/badge/contributions-welcome-brightgreen.svg)](CONTRIBUTING.md)

[![DOI](https://zenodo.org/badge/353980386.svg)](https://zenodo.org/badge/latestdoi/353980386)

This package contains all the ROS components needed for creating a [Panda Emika Franka](https://frankaemika.github.io/docs/) Gazebo simulation. It is used by the [ros\_gazebo\_gym](https://github.com/rickstaa/ros-gazebo-gym) RL framework to create the Panda task environments. It wraps the [franka\_ros](https://github.com/frankaemika/franka_ros) and [panda\_moveit\_config](https://github.com/ros-planning/panda_moveit_config) packages to add the extra functionalities needed to train RL agents efficiently.

## Clone the repository

Since the repository contains several git submodules to use all the features, it needs to be cloned using the `--recurse-submodules` argument:

```bash

git clone --recurse-submodules https://github.com/rickstaa/panda-gazebo.git

```

If you already cloned the repository and forgot the `--recurse-submodule` argument, you can pull the submodules using the following git command:

```bash

git submodule update --init --recursive

```

## Installation and Usage

Please see the accompanying [documentation](https://rickstaa.dev/panda-gazebo) for information on installing and using this package.

## Contributing

We use  [husky](https://github.com/typicode/husky) pre-commit hooks and github actions to enforce high code quality. Before contributing to this repository, please check the [contribution guidelines](CONTRIBUTING.md).

> \[!NOTE]\

> We used [husky](https://github.com/typicode/husky) instead of [pre-commit](https://pre-commit.com/), 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](https://github.com/rickstaa/panda-gazebo/pulls) if you want to switch to pre-commit if this is no longer the case.