Franka Panda

Franka Panda#

FrankaPandaCfg configures the Franka Panda manipulator together with its parallel-jaw hand. The bundled model contains the seven-joint arm and two finger joints in one URDF.

Franka Panda with parallel-jaw hand

Key Features#

Seven-axis manipulator with the two-joint Panda hand.
Ready-to-use robot configuration for the URDF, control parts, joint drives, and initial joint positions.
Numerical forward and inverse kinematics through PytorchSolverCfg and pytorch-kinematics.
Multi-environment simulation support through SimulationManager.
Dual-arm composition support through the "franka" base-robot key.

Usage#

from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain.lab.sim.robots import FrankaPandaCfg

sim = SimulationManager(SimulationManagerCfg(headless=True, num_envs=4))
cfg = FrankaPandaCfg.from_dict({"robot_type": "panda"})
robot = sim.add_robot(cfg=cfg)

from_dict also accepts standard RobotCfg overrides. For example, the base pose and initial joint positions can be changed when the configuration is created:

cfg = FrankaPandaCfg.from_dict(
    {
        "robot_type": "panda",
        "init_pos": [0.5, 0.0, 0.0],
        "init_qpos": [0.0, -0.5, 0.0, -2.5, 0.0, 2.8, 0.7, 0.04, 0.04],
    }
)

Robot Configuration#

Item	Default
Configuration class	`FrankaPandaCfg`
`robot_type`	`"panda"` (the only currently supported variant)
UID	`FrankaPanda`
URDF	`Franka/Panda/PandaWithHand.urdf`
Arm joints	`fr3_joint1` through `fr3_joint7`
Hand joints	`fr3_finger_joint1`, `fr3_finger_joint2`
Kinematics root / end link	`base` / `fr3_hand_tcp`
Solver	`PytorchSolverCfg` with 30 samples

The configuration exposes two independently addressable control parts:

arm_joint_ids = robot.get_joint_ids("arm")
hand_joint_ids = robot.get_joint_ids("hand")

The hand’s second finger joint is a mimic of the first in the bundled URDF.

Default Joint State#

The default state places the arm in a neutral ready pose and opens both fingers:

Joint	Position (rad)
`fr3_joint1`	0.000
`fr3_joint2`	-0.569
`fr3_joint3`	0.000
`fr3_joint4`	-2.810
`fr3_joint5`	0.000
`fr3_joint6`	3.037
`fr3_joint7`	0.741
`fr3_finger_joint1`	0.040
`fr3_finger_joint2`	0.040

Dual-Arm Composition#

Use DualArmRobotCfg with base_robot="franka" to create a pair of Panda arms. The dual-arm builder prefixes the generated joints, control parts, and solver links with left_ and right_.

from embodichain.lab.sim.robots import DualArmRobotCfg

cfg = DualArmRobotCfg.from_dict(
    {
        "base_robot": "franka",
        "mount": {"preset": "side_by_side", "separation": 0.6},
    }
)
robot = sim.add_robot(cfg=cfg)

See :doc:dual_arm for the available mount presets and configuration options.