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yijiangh / choreo

Choreo: robotic motion planning platform for discrete architectural assembly
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how to load end effector's model in visualizer? #109

Closed yijiangh closed 6 years ago

yijiangh commented 6 years ago

Refer: moveit_simple_grasp_test.cpp

yijiangh commented 6 years ago

Look at this chunk of SRDF complied (by runnning rosrun xacro xacro --inorder -o baxter.srdf baxter.srdf.xacro) from baxter robot in moveit_robot package, to have a sense of defining end effector w/ group and EE definition:

  <group name="left_arm">
    <chain base_link="torso" tip_link="left_gripper"/>
  </group>
  <group name="right_arm">
    <chain base_link="torso" tip_link="right_gripper"/>
  </group>
  <group name="both_arms">
    <group name="right_arm"/>
    <group name="left_arm"/>
  </group>
  <group name="left_hand">
    <chain base_link="left_hand" tip_link="left_gripper"/>
  </group>
  <group name="right_hand">
    <chain base_link="right_hand" tip_link="right_gripper"/>
  </group>
  <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
  <end_effector group="left_hand" name="left_hand_eef" parent_group="left_arm" parent_link="left_gripper"/>
  <end_effector group="right_hand" name="right_hand_eef" parent_group="right_arm" parent_link="right_gripper"/>

Important to note that the "parent linke" here is actually the TCP tip!