panda_py.constants module

Commonly used constants.

panda_py.constants.JOINT_POSITION_START = array([ 0.        , -0.78539816,  0.        , -2.35619449,  0.        ,         1.57079633,  0.78539816])

Common start pose of the robot. State-space around this pose has high manipulability, reachability, distance to joint limits etc.

panda_py.constants.JOINT_LIMITS_LOWER = array([-2.8973, -1.7628, -2.8973, -3.0718, -2.8973, -0.0175, -2.8973])

Lower joint position limits of the Franka Emika Robot (FER) in radian.

panda_py.constants.JOINT_LIMITS_UPPER = array([ 2.8973,  1.7628,  2.8973, -0.0698,  2.8973,  3.7525,  2.8973])

Upper joint position limits of the Franka Emika Robot (FER) in radian.

panda_py.constants.JOINT_LIMITS_LOWER_FR3 = array([-2.7437, -1.7837, -2.9007, -3.0421, -2.8065,  0.5445, -3.0159])

Lower joint position limits of the Franka Research 3 (FR3) with robot system version below 5.9.0, in radian.

panda_py.constants.JOINT_LIMITS_UPPER_FR3 = array([ 2.7437,  1.7837,  2.9007, -0.1518,  2.8065,  4.5169,  3.0159])

Upper joint position limits of the Franka Research 3 (FR3) with robot system version below 5.9.0, in radian.

panda_py.constants.JOINT_LIMITS_LOWER_FR3_5_9 = array([-2.9007, -1.8361, -2.9007, -3.077 , -2.8763,  0.4398, -3.0508])

Lower joint position limits of the Franka Research 3 (FR3) with robot system version 5.9.0 or later, in radian. Robot system 5.9.0 widened the limits to the values given in the datasheet.

panda_py.constants.JOINT_LIMITS_UPPER_FR3_5_9 = array([ 2.9007,  1.8361,  2.9007, -0.1169,  2.8763,  4.6216,  3.0508])

Upper joint position limits of the Franka Research 3 (FR3) with robot system version 5.9.0 or later, in radian.