move_pos in panda_env.py implements a resolved-rate velocity controller of the arm. A wide variety of orientation input (Euler/Quaternion/Azimuthal) is supported. utils_geom.py specifies the Euler angle convention used.
There are three different fingers available:
- the original one from Franka
- a longer one (preferred for grasping, design from Doug Morrison)
- a wider one (for grasping cups and pouring liquid)