Franka Setup in MuJoCo

SAFIRL: Shielded RL with CBF/MPC on Franka-MuJoCo — reproducible training/evaluation, STL-based verification, benchmarks, Docker/CI.

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…

Reinforcement learning training of a Franka robot for Cartesian target-reaching in NVIDIA Isaac Sim using IsaacLab.

Plug-n-play controllers for Franka robots that work with physical and simulated robot

GRAMPS Kinematics/Dynamics Library

“RCM control demos (Franka Panda + MuJoCo) for MIS thesis at the University of Patras”

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）

Robot arm mujoco simulation environment(FK/IK/Trajectory/RL Envs).

Compliant teleoperation and gesture-controlled grasping using DNN 2D pose- and gesture estimation in ROS.

This is how I'm keeping track of my progress in my master's thesis. Please beware that this is not yet a finished product.

Franka Custom Joint Interface for ROS Melodic

Control Franka Emika robots remotely with panda-py

Simple implementation of Move commands for the Franka Emika. Implementation into a PLC system, combined with a vision system.

Interface for simulated and real Panda robots from Franka Emika

Dagger implementation for Franka Panda robot trajectory planning

An example project for panda control experiments in Linux

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

A lean, ROS-free sim-to-real framework for training and deploying Vision-Language-Action (VLA) models and RL agents. Native MuJoCo Gymnasium wrappers with synchronous execution for Franka, UR5e, xArm, and SO101.