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 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 in radian.