Bridging the Sim-to-Real Gap with multipanda ros2: A Real-Time ROS2 Framework for Multimanual Systems

• URL: http://arxiv.org/abs/2602.02269v1
• Date: Mon, 02 Feb 2026 16:11:12 GMT
• Title: Bridging the Sim-to-Real Gap with multipanda ros2: A Real-Time ROS2 Framework for Multimanual Systems
• Authors: Jon Škerlj, Seongjin Bien, Abdeldjallil Naceri, Sami Haddadin,
• Abstract summary: We present $multipanda_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots.<n>Our core contributions address key challenges in real-time torque control, including interaction control and robot-environment modeling.
• Score: 22.26675117934127
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

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