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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[HardwareSim] Port Panda drivers (PandaArmDriver and PandaHandDriver) from Anzu? #20165

Open RussTedrake opened 1 year ago

RussTedrake commented 1 year ago

Related to #20055 (and it makes sense to resolve that one first).

Many users of HardwareStation want to run on panda. Can we port those "drivers" to Drake?

jwnimmer-tri commented 1 year ago

For the arm ...

This would be for simulation only, is that right? There is no https://github.com/RobotLocomotion/drake-panda-driver repository with any actual hardware I/O. In that case, would we rather have a plain InverseDynamicsDriver that is not specific to any species? (With configurable gains, filtering, and control mode.) That would let users simulate many kinds of arms, without editing Drake for each new kind of arm.

For the hand ...

I'm not sure about copying it from Anzu to Drake as-is. There is a comment atop the file "THIS IS AN INTERIM HACK AND SHOULD ALL BE REPLACED WITH A PROPER PANDA HAND CONTROLLER!" which gives me pause. Someone would need to go look at the code to see what (if any) parts of it are competent enough for Drake.