Bridging the Sim-to-Real Gap with multipanda ros2: A Real-Time ROS2 Framework for Multimanual Systems
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866917242217693184 |
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| author | Škerlj, Jon Bien, Seongjin Naceri, Abdeldjallil Haddadin, Sami |
| author_facet | Škerlj, Jon Bien, Seongjin Naceri, Abdeldjallil Haddadin, Sami |
| contents | We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a single process. Our core contributions address key challenges in real-time torque control, including interaction control and robot-environment modeling. A central focus of this work is sustaining a 1kHz control frequency, a necessity for real-time control and a minimum frequency required by safety standards. Moreover, we introduce a controllet-feature design pattern that enables controller-switching delays of $\le 2$ ms, facilitating reproducible benchmarking and complex multi-robot interaction scenarios. To bridge the simulation-to-reality (sim2real) gap, we integrate a high-fidelity MuJoCo simulation with quantitative metrics for both kinematic accuracy and dynamic consistency (torques, forces, and control errors). Furthermore, we demonstrate that real-world inertial parameter identification can significantly improve force and torque accuracy, providing a methodology for iterative physics refinement. Our work extends approaches from soft robotics to rigid dual-arm, contact-rich tasks, showcasing a promising method to reduce the sim2real gap and providing a robust, reproducible platform for advanced robotics research. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_02269 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Bridging the Sim-to-Real Gap with multipanda ros2: A Real-Time ROS2 Framework for Multimanual Systems Škerlj, Jon Bien, Seongjin Naceri, Abdeldjallil Haddadin, Sami Robotics Artificial Intelligence Software Engineering Systems and Control 93C85, 68T40 I.2.9; C.3; D.2.11; I.6.4 We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a single process. Our core contributions address key challenges in real-time torque control, including interaction control and robot-environment modeling. A central focus of this work is sustaining a 1kHz control frequency, a necessity for real-time control and a minimum frequency required by safety standards. Moreover, we introduce a controllet-feature design pattern that enables controller-switching delays of $\le 2$ ms, facilitating reproducible benchmarking and complex multi-robot interaction scenarios. To bridge the simulation-to-reality (sim2real) gap, we integrate a high-fidelity MuJoCo simulation with quantitative metrics for both kinematic accuracy and dynamic consistency (torques, forces, and control errors). Furthermore, we demonstrate that real-world inertial parameter identification can significantly improve force and torque accuracy, providing a methodology for iterative physics refinement. Our work extends approaches from soft robotics to rigid dual-arm, contact-rich tasks, showcasing a promising method to reduce the sim2real gap and providing a robust, reproducible platform for advanced robotics research. |
| title | Bridging the Sim-to-Real Gap with multipanda ros2: A Real-Time ROS2 Framework for Multimanual Systems |
| topic | Robotics Artificial Intelligence Software Engineering Systems and Control 93C85, 68T40 I.2.9; C.3; D.2.11; I.6.4 |
| url | https://arxiv.org/abs/2602.02269 |