This package includes a model of the Panda robot for dm_robotics, tools to build simulation environments suited for reinforcement learning, and allows you to run these simulations with real hardware in the loop.

Run your dm_robotics simulation environment on the real hardware without modification.

Haptic interaction mode allows you to physically interact with the simulation environment.

To get started, checkout the tutorial.

The recommended way of installing is using PyPI:

pip install dm-robotics-panda

Alternatively, you can install this package from source by executing

pip install .

in the repository's root directory.

Hardware-in-the-loop operation requires panda-py to control the robot. However, the version automatically installed from PyPI may not be compatible with your robot if you use an older firmware or use the new Franka Research 3 robot. In that case refer to the panda-py instructions on what version to install and where to find it.

If you're having trouble running the included viewer or rendering scenes, please refer to the requirements of dm_control.

If you use dm_robotics_panda in published research, please consider citing the original software paper.

@article{elsner2023taming,
title = {Taming the Panda with Python: A powerful duo for seamless robotics programming and integration},
journal = {SoftwareX},
volume = {24},
pages = {101532},
year = {2023},
issn = {2352-7110},
doi = {https://doi.org/10.1016/j.softx.2023.101532},
url = {https://www.sciencedirect.com/science/article/pii/S2352711023002285},
author = {Jean Elsner}
}