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Set panda's end effector #634

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Merged
iory merged 1 commit into from
Dec 23, 2025
Merged

Set panda's end effector #634

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13 changes: 12 additions & 1 deletion skrobot/models/panda.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
from cached_property import cached_property
import numpy as np

from ..coordinates import CascadedCoords
from ..data import panda_urdfpath
from ..model import RobotModel
from .urdf import RobotModelFromURDF
Expand All @@ -14,6 +16,15 @@ class Panda(RobotModelFromURDF):

def __init__(self, *args, **kwargs):
super(Panda, self).__init__(*args, **kwargs)

# End effector coordinate frame
# Based on franka_ros configuration:
# https://github.com/frankaemika/franka_ros/blob/0.10.1/franka_description/robots/common/franka_robot.xacro#L8
self.rarm_end_coords = CascadedCoords(
pos=[0, 0, 0.1034],
parent=self.panda_hand,
name='rarm_end_coords')
self.rarm_end_coords.rotate(np.deg2rad(-90), 'y')
self.reset_pose()

@cached_property
Expand Down Expand Up @@ -44,5 +55,5 @@ def rarm(self):
links = [getattr(self, n) for n in link_names]
joints = [l.joint for l in links]
model = RobotModel(link_list=links, joint_list=joints)
model.end_coords = self.panda_hand
model.end_coords = self.rarm_end_coords
return model