Gym Franka Client

A gymnasium interface for the Franka Emika Panda Robot Arm. The server-side code is avaliable here.

System Architecture

The client-side gymnasium environment communicates with the server-side interface through WebSocket. The server communicates with the robot arm using franka_ros.

Getting started

Install the pip package with:

pip install -e .

Additional setups

Change the environment variables to point to the ROS machine running gym-franka-server.

export GYM_FRANKA_SERVER_IP=192.168.xx.xx

Example

import gymnasium as gym
import gym_franka

e = gym.make('Franka-v1')
e.reset()
e.step(e.action_space.sample())