From a0f0190553c89bbbf17d3f5d8690fd3f224663db Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 22 Mar 2022 17:22:46 +0100
Subject: [PATCH] Use arm_id prefix for hand as well
---
config/fake_controllers.yaml | 4 ++--
config/hand.xacro | 6 +++---
config/ompl_planning.yaml | 4 ++--
config/panda.srdf.xacro | 7 +++----
4 files changed, 10 insertions(+), 11 deletions(-)
diff --git a/config/fake_controllers.yaml b/config/fake_controllers.yaml
index 6a6759c..1ea8dff 100644
--- a/config/fake_controllers.yaml
+++ b/config/fake_controllers.yaml
@@ -18,5 +18,5 @@ controller_list:
initial: # Define initial robot poses per group
- group: $(arg arm_id)_arm
pose: ready
- - group: hand
- pose: open
\ No newline at end of file
+ - group: $(arg arm_id)_hand
+ pose: open
diff --git a/config/hand.xacro b/config/hand.xacro
index e9ec8e3..3d69125 100644
--- a/config/hand.xacro
+++ b/config/hand.xacro
@@ -20,17 +20,17 @@
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
- <group name="hand">
+ <group name="$(arg arm_id)_hand">
<link name="$(arg arm_id)_hand"/>
<link name="$(arg arm_id)_leftfinger"/>
<link name="$(arg arm_id)_rightfinger"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
- <group_state name="open" group="hand">
+ <group_state name="open" group="$(arg arm_id)_hand">
<joint name="$(arg arm_id)_finger_joint1" value="0.035"/>
<joint name="$(arg arm_id)_finger_joint2" value="0.035"/>
</group_state>
- <group_state name="close" group="hand">
+ <group_state name="close" group="$(arg arm_id)_hand">
<joint name="$(arg arm_id)_finger_joint1" value="0"/>
<joint name="$(arg arm_id)_finger_joint2" value="0"/>
</group_state>
diff --git a/config/ompl_planning.yaml b/config/ompl_planning.yaml
index 69f40b0..32b496e 100644
--- a/config/ompl_planning.yaml
+++ b/config/ompl_planning.yaml
@@ -155,8 +155,8 @@ $(arg arm_id)_arm: &arm_config
- SPARStwo
projection_evaluator: joints($(arg arm_id)_joint1,$(arg arm_id)_joint2)
longest_valid_segment_fraction: 0.005
-manipulator: *arm_config
-hand:
+$(arg arm_id)_manipulator: *arm_config
+$(arg arm_id)_hand:
planner_configs:
- AnytimePathShortening
- SBL
diff --git a/config/panda.srdf.xacro b/config/panda.srdf.xacro
index 99307dc..caf1d55 100644
--- a/config/panda.srdf.xacro
+++ b/config/panda.srdf.xacro
@@ -9,9 +9,8 @@
<!-- panda_arm group: eef frame aligned to robot's flanche -->
<xacro:arm name="$(arg arm_id)_arm" tip_link="$(arg arm_id)_link8"/>
- <xacro:arg name="hand" default="false" />
-
<!--Add the hand if people request it-->
+ <xacro:arg name="hand" default="false" />
<xacro:if value="$(arg hand)">
<!-- manipulator group: eef frame aligned to hand -->
<xacro:arm name="$(arg arm_id)_manipulator" tip_link="$(arg arm_id)_hand_tcp" />
@@ -19,9 +18,9 @@
<xacro:hand />
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="hand_tcp" parent_link="$(arg arm_id)_hand_tcp" group="hand" parent_group="$(arg arm_id)_manipulator" />
+ <end_effector name="$(arg arm_id)_hand_tcp" parent_link="$(arg arm_id)_hand_tcp" group="$(arg arm_id)_hand" parent_group="$(arg arm_id)_manipulator" />
<!-- old end-effector -->
- <end_effector name="hand" parent_link="$(arg arm_id)_link8" group="hand" parent_group="$(arg arm_id)_arm" />
+ <end_effector name="$(arg arm_id)_hand" parent_link="$(arg arm_id)_link8" group="$(arg arm_id)_hand" parent_group="$(arg arm_id)_arm" />
</xacro:if>
</robot>
--
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