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 the Genesis engine.
Collection of robot models compatible with gym-ignition
An educational simulation workspace for picking and placing with the Franka Emika Panda Robot in Gazebo with the ZED2 camera.
一个用户友好的遥操作数据采集工具（适配了 FR3 和 Realman 65B 机械臂、Realsense 和 Orbbec 相机）
SAFIRL: Shielded RL with CBF/MPC on Franka-MuJoCo — reproducible training/evaluation, STL-based verification, benchmarks, Docker/CI.
“RCM control demos (Franka Panda + MuJoCo) for MIS thesis at the University of Patras”
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