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.