Bridging the Sim-to-Real Gap with multipanda ros2: A Real-Time ROS2 Framework for Multimanual Systems
Multipanda ros2 is an open-source ROS2 framework for controlling Franka Robotics robots in real-time using a 1kHz control frequency. It introduces a system where multiple robots are managed by independent 'controllets' to handle torque control and interaction. The framework includes simulation tools and a method to use real-world data to improve simulation accuracy, bridging the gap between virtual testing and physical robot performance.