Add correct tool transform to panda

jhavl · jhavl · commit 0359e7748140 · 2021-04-23T11:47:49.000+10:00
diff --git a/roboticstoolbox/models/URDF/Panda.py b/roboticstoolbox/models/URDF/Panda.py
@@ -2,6 +2,7 @@
 
 import numpy as np
 from roboticstoolbox.robot.ERobot import ERobot
+from spatialmath import SE3
 
 
 class Panda(ERobot):
@@ -28,29 +29,31 @@ class Panda(ERobot):
     .. codeauthor:: Jesse Haviland
     .. sectionauthor:: Peter Corke
     """
+
     def __init__(self):
 
         links, name = self.URDF_read(
-            "franka_description/robots/panda_arm_hand.urdf.xacro")
+            "franka_description/robots/panda_arm_hand.urdf.xacro"
+        )
 
         super().__init__(
-            links,
-            name=name,
-            manufacturer='Franka Emika',
-            gripper_links=links[9]
+            links, name=name, manufacturer="Franka Emika", gripper_links=links[9]
+        )
+
+        self.grippers[0].tool = SE3(0, 0, 0.1034)
+
+        self.qdlim = np.array(
+            [2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0]
         )
 
-        self.qdlim = np.array([
-            2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0])
+        self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0]))
 
-        self.addconfiguration("qz", np.array(
-            [0, 0, 0, 0, 0, 0, 0]))
+        self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4]))
 
-        self.addconfiguration("qr", np.array(
-            [0, -0.3, 0, -2.2, 0, 2.0, np.pi/4]))
 
+if __name__ == "__main__":  # pragma nocover
 
-if __name__ == '__main__':   # pragma nocover
+    r = Panda()
 
-    robot = Panda()
-    print(robot)
+    for link in r.grippers[0].links:
+        print(link)
