This package provides the following robot modules for mc_rtc:

• PandaDefault: panda robot without an end-effector mounted
• PandaFoot: panda robot with a static foot-like end-effector
• PandaHand: panda robot with the standard panda gripper
• PandaPump: panda robot with the standard panda pump

It also contains the definition of two devices:

• mc_panda::Robot is an asynchronous interface for franka::Robot commands and franka::RobotState which are connected to the actual robot when mc_franka is running the controller;
• mc_panda::Pump is an asynchronous interface for franka::VacuumGripper which is connected to the pump when mc_franka is running the controller. It is only available in the PandaPump variant.

And it provides some panda-specific FSM states:

• PandaStop: immediately stop panda motion execution
• PandaWaitForCollision: monitor panda contact sensor until certain threshold are reached
• PumpDropOff: sends a dropOff command to the panda's pump and wait for the command completion
• PumpStop: interrupt the pump operation
• PumpVacuum: sends a vacuum command to the panda's pump and wait for the command completion

See state examples for details on the available parameters for each state.

This package requires:

• mc_rtc
• libfranka
• franka_ros

If mc_openrtm is installed this will also install compatible Choreonoid projects for the panda robot.

Original xacro files from:

• franka_ros for the main definitions and collisions specifications
• franka_gazebo for the inertial parameters

Pump model was downloaded from Schmalz

This work was partially supported by the Research Project I.AM. through the European Union H2020 program under GA 871899.