A generel Python interface class for robot simulations using PyBullet. Python API class to control and monitor the robot in the simulation. An implementation of subclass is available which uses the Franka Emika Panda robot as an example. The interface is written in the structure similar to the panda_robot ROS package used for controlling the real robot. This allows for direct transfer of code to the real robot (when using the panda_robot ROS package).

A simple world interface (SimpleWorld) is also provided for creating or modifying objects in the simulated world.

The robot can be directly controlled using position, velocity, or torque control of joints. Example implementations of task-space control (Impedance control, Hybrid force-motion control) using joint torque control is also available.

Although, this package is structured as a ROS package, it can be used without ROS.

• pip install -r requirements.txt (numpy, quaternion, pybullet)

• mujoco_panda : Simulation using Mujoco Physics Engine (pymujoco) with exposed controllers and state feedback. Also provides a Python interface class to control and monitor the robot in the simulation. The interface is written in the structure similar to the panda_robot ROS package used for controlling the real robot. This allows for direct transfer of code to the real robot (when using the panda_robot ROS package).

• panda_simulator : Simulation in Gazebo with exposed controllers and state feedback using ROS topics and services. The simulated robot uses the same ROS topics and services as the real robot when using the franka_ros_interface.

• franka_ros_interface : A ROS API for controlling and managing the Franka Emika Panda robot (real and simulated). Contains controllers for the robot (joint position, velocity, torque), interfaces for the gripper, controller manager, coordinate frames interface, etc.. Provides almost complete sim-to-real transfer of code.

• panda_robot : Python interface providing higher-level control of the robot integrated with its gripper, controller manager, coordinate frames manager, etc. It also provides access to the kinematics and dynamics of the robot using the KDL library.