Include panda arm hand #35
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| [[nodiscard]] Eigen::VectorXd getJointPositions(const moveit::core::RobotState& moveit_state, | ||
| const std::string& group_name, const MultibodyPlant<double>& plant) | ||
| { | ||
| Eigen::VectorXd joint_positions = Eigen::VectorXd::Zero(plant.num_positions()); |
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Maybe it would be better to init this with the current plant positions 🤔 What do you think?
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I am not sure. We can do it if we see an obvious error later?
| for (const auto& joint_model : joint_model_group->getActiveJointModels()) | ||
| { | ||
| const auto& joint_name = joint_model->getName(); | ||
| const auto& joint_index = plant.GetJointByName(joint_name).ordinal(); |
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This errors right now if a name that does not exist in the pant is passed to GetJointByName
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Here is the documentation for ordinal(): https://github.com/RobotLocomotion/drake/blob/8cfe6dba2a2658979073ac3e17b3fe4d0ecd1183/multibody/tree/joint.h#L191
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Is this where there was a difference between moveit_panda and drake_panda gave you trouble?
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No, moveit panda uses a single actuatable joint for the gripper (1 finger and the other finger is controlled with a joint that mirrors the first finger) and drake just uses two joints for the fingers
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This was super helpful @sjahr :). I felt the function names inside conversions. could be a indicative of the direction of conversion, given that there may be many more helper function that could be added. Other than that LGTM!
Thanks a lot.
| for (const auto& joint_model : joint_model_group->getActiveJointModels()) | ||
| { | ||
| const auto& joint_name = joint_model->getName(); | ||
| const auto& joint_index = plant.GetJointByName(joint_name).ordinal(); |
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Is this where there was a difference between moveit_panda and drake_panda gave you trouble?
| [[nodiscard]] Eigen::VectorXd getJointPositions(const moveit::core::RobotState& moveit_state, | ||
| const std::string& group_name, const MultibodyPlant<double>& plant) | ||
| { | ||
| Eigen::VectorXd joint_positions = Eigen::VectorXd::Zero(plant.num_positions()); |
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I am not sure. We can do it if we see an obvious error later?
Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Plot twist: adding the hand was not straight forward because Drake does not have a concept of planning groups + the urdf of the moveit_panda_description and the drake_panda_description differ 🎉 This PR introduces the changes necessary to get it working and does some minor clean-ups along the way. @kamiradi