This project provides a way to accelerate trying out new reserach ideas on the Franka Emika FR3 robot by providing a bridge between the C++ libfranka interface and python using dynamic-graphs and based on shared memories.
The documentations can be found at dgm-franka.readthedocs.io
To cite dgm_franka
in your academic research, please use the following bibtex
@article{DaiKKGTK23,
author = {Bolun Dai and
Rooholla Khorrambakht and
Prashanth Krishnamurthy and
Vinícius Gonçalves and
Anthony Tzes and
Farshad Khorrami},
title = {Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions},
journal = {CoRR},
volume = {abs/2304.08586},
year = {2023},
}