dm_robotics.panda.arm_constants module

Defines Panda robot arm constants.

class dm_robotics.panda.arm_constants.Actuation(value)

Bases: Enum

Available actuation methods for the Panda MoMa model.

The actuation methods use the joint stiffness and damping as defined in dm_robotics.panda.parameters.RobotParams where applicable.

CARTESIAN_VELOCITY = 0

Cartesian end-effector velocity control.

HAPTIC = 2

Enables haptic interaction between a physical Panda robot and the simulation.

JOINT_VELOCITY = 1

Joint actuators receive a velocity signal that is integrated and tracked by a position controller.

dm_robotics.panda.arm_constants.XML_PATH = '/opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/dm_robotics/panda/assets/panda/panda.xml'

Path to the Panda arm mjcf