Franka Panda support

[hao-l1]

Thanks you for making this wonderful simulator!

I'm just wondering if it is possible to support franka panda arm smulation? I'm using panda instead of sawyer. I would really want to use panda for simulation. Thanks!

[robertocalandra]

Hi @HaoLiRobo,
Yes, It is possible to use the franka panda arm in tacto.
What you need to do is to import the model of the franka panda in the physics engine and then attach a gripper/sensor to it
A good starting point might be https://github.com/facebookresearch/tacto/blob/main/examples/demo_pybullet_grasp.py which uses a Sawyer arm.

[saeidb71]

Hi @HaoLiRobo,

I also want to use panda with digit, but I've had a hard time understanding how to do this. Were you able to use panda instead of sawyer? If yes, can you provide a sample code?

[aspirinium]

Hi @HaoLiRobo,

I also want to use panda with digit, but I've had a hard time understanding how to do this. Were you able to use panda instead of sawyer? If yes, can you provide a sample code?

Hey guys, did you make it? I modified the URDF files of Franka to include two Digit sensors on the gripper, but I wouldn't say that this implementation was successful: the gripper doesn't behave as expected. I was wondering whether you found a solution.

[hao-l1]

@saeidb71 @aspirinium
We had a new paper released just last month. We are building our simulation on top of Taxim, it is kind of the same framework as TACTO. But we add some more features and implement the Franka Panda Arm simulation with tactile sensing.

https://github.com/objectfolder/objectfolder_manipulation_tasks