franka 开源项目推荐（75 个）

TimSchneider42 /franky

High-Level Control Library for Franka Robots with Python and C++ Support

Noietch /EVA-CLIENT

EVA客户端：用于真实机器人部署、评估和数据收集的统一框架

JeanElsner /panda-py

Python bindings for real-time control of Franka Emika robots.

RobotControlStack /robot-control-stack

一个精简、不依赖 ROS 的仿真到现实框架，用于训练和部署视觉-语言-动作（VLA）模型及强化学习智能体。原生 MuJoCo Gymnasium 封装，同步执行，支持 Franka、UR5e、xArm 和 SO101。

ArrebolBlack /franka-control

No-ROS Python stack for Franka Research 3 control, teleoperation, trajectory planning, IK, RealSense, and LeRobot data collection.

BarisYazici /libfranka-sim

A high-fidelity simulation backend for Franka robots that implements the complete libfranka API. Develop and test your robot control applications with identical code for both simulation and hardware. Supports all joint control modes (position, velocity, torque) with realistic physics powered by Mujoco

suniique /assembly-nist

[Assembly NIST] Assembly policy learning for a Franka arm in MuJoCo. Independent implementation of AlphaNIST with PPO, training code, and pretrained policies.

juelg /frankik

Blazing fast, analytical Inverse Kinematics for Franka Emika Panda and FR3 robots. Lightweight Python bindings, no ROS required.

mkrizmancic /franka_gazebo

A simple ROS Gazebo package for Franka Panda robot arm.

robotology /gym-ignition-models

Collection of robot models compatible with gym-ignition

RobotControlStack /duobench

A reproducible benchmark for bimanual manipulation in simulation and the real world.

psh117 /panda_control_vrep_linux

An example project for panda control experiments in Linux

sophiamoyen /franka_zed_gazebo

An educational simulation workspace for picking and placing with the Franka Emika Panda Robot in Gazebo with the ZED2 camera.

justagist /gazebo_panda

A standard bare-bone ROS Gazebo simulator for the Franka Emika Panda robot built using inbuilt Gazebo ROS controllers and RobotHW interfaces. Robot controllable using standard ROS control interfaces. No dependencies on franka_ros or libfranka.

Loule0-0 /franka-stack

End-to-end open-source stack for real Franka robots: realtime control, GELLO/VR data collection, policy training, and guarded deployment.

falfab /panda_dagger

Dagger implementation for Franka Panda robot trajectory planning

jc211 /panda-py-remote

Control Franka Emika robots remotely with panda-py

i-abr /franka_interface

Franka Custom Joint Interface for ROS Melodic

marcbone /franka-interface

Interface for simulated and real Panda robots from Franka Emika

martinandrovich /hric-system

An integrated simulation environment for research in safety of Human-Robot Interaction and Collaboration (HRIC), facilitating the means of ROS-based real time robot interfacing and collection of sensory data, furthermore providing a generic framework for development and deployment of an arbitrary robot controller in both a simulated and real env…