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An interface between Franka Emika manipulator (libfranka) and python for quick manipulation research.

Home Page: http://dgm-franka.readthedocs.io

License: MIT License

Shell 0.28% C++ 83.57% Python 0.13% CMake 11.50% Dockerfile 4.52%

dgm_franka's Introduction

Dynamic Graph Manager for Franka Emika

This project provides a way to accelerate trying out new reserach ideas on the Franka Emika FR3 robot by providing a bridge between the C++ libfranka interface and python using dynamic-graphs and based on shared memories.

The documentations can be found at dgm-franka.readthedocs.io

Citation

To cite dgm_franka in your academic research, please use the following bibtex

@article{DaiKKGTK23,
    author      = {Bolun Dai and
                   Rooholla Khorrambakht and
                   Prashanth Krishnamurthy and
                   Vinícius Gonçalves and
                   Anthony Tzes and
                   Farshad Khorrami},
    title       = {Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions},
    journal     = {CoRR},
    volume      = {abs/2304.08586},
    year        = {2023},
}

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