This repository provides code to perform camera calibrations and control the Franka Emika Panda robot with both teleop and policy rollouts. It also contains the 3D camera mounts for the Pandas wrist camera setup.

Setup

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Usage

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Acknowledgements

This work uses code from the following open-source projects:

FrankX

Original: https://github.com/pantor/frankx License: LGPL-3

Ruckig

Original: https://github.com/pantor/ruckig License: MIT

Authorship

Lukas Hermann developed most of the initial code. The codebase contains additional contributions from Max Argus, Iman Nematollahi, Jessica Borja, Chenguang Huang, Erick Rosete and Adrian Röfer. This codebase contains contributions and modifications made by Oier Mees to support the experiments for the papers TACO-RL, VAPO and HULC2. If this code is useful for your research, please consider citing these works.