This repository is a rewrite of the franka_gazebo package that provides a simulated panda hardware interface for mujoco_ros.

This package targets ROS 1 and the hybrid mujoco_ros_control package. The hardware simulation plugin exports franka_mujoco/FrankaHWSim as a mujoco_ros::control::RobotHWSim implementation and uses the current InitSim, ReadSim, WriteSim, and EStopActive hooks.

The package still follows the ROS 1 franka_ros interfaces:

• franka_hw/FrankaStateInterface
• franka_hw/FrankaModelInterface
• franka_control services and error recovery action
• franka_gripper action interfaces for the simulated gripper controller

The launch files pass the current franka_description Panda xacro arguments explicitly, including parent:=world for Gazebo-style URDF generation. Controller YAML files use $(arg arm_id) for Panda joint names, so namespaced arms such as L_panda and R_panda can share the same controller config.

This work is licensed under the BSD 3-Clause License (see LICENSE). The franka_gazebo package, which this package is based on, was released under the Apache 2.0 License (see LICENSE-ORIGINAL).