mc_panda_lirmm

This package extends the [mc_panda] robot modules and provides modules specific to the panda robots in LIRMM. Notably these include the supports on which the robots are attached.

Naming convention

mc_panda provides the following modules:

• PandaDefault
• PandaHand
• PandaFoot
• PandaPump

In addition this package provides modules for the robots Panda2, panda6 and Panda7 (each corresponding to one of the panda robots at LIRMM). Robot modules are named <RobotName>LIRMM<End Effector>. Since the robots' estimated force sensor is left handed, and most simulators do not support this, for each robot module two variants are further provided:

• <RobotName>LIRMM<End Effector> : flips the sensor measurement along one axis such that it becomes right handed. This is intended to be used on the real robot.
• <RobotName>LIRMM<End Effector>Simulation : keeps the force sensor measurement as-is. This is intended to be used in simulators where the force sensor measurement is already right-handed.

For example you can use Panda7LIRMMDefault, Panda7LIRMMHand, Panda7LIRMMFoot, Panda7LIRMMPump, and their corresponding simulation variants Panda7LIRMMDefaultSimulation, ...

Panda2

IP: 192.168.1.2

Panda2 model

Panda2 convex

Panda2 basic convex shapes

Panda6

IP: 172.16.0.6

panda6 model

panda6 convex

panda6 basic convex shapes

Panda7

IP: 172.16.1.7

Panda7 model

Panda7 convex

Panda7 basic convex shapes

Dependencies

This package requires:

• [mc_panda]