Clarify/ generalize suction example #384
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+@RussTedrake for review please |
RussTedrake
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Nov 14, 2024
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Reviewed 1 of 1 files at r2, all commit messages.
Reviewable status:complete! all files reviewed, all discussions resolved (waiting on @nepfaff)
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I added some comments and implemented the temporary plant workaround that was described in the comments. I needed this for some of my work and think it is slightly easier to use for people using suction for their projects.
I also generalized it slightly to add a floating joint between the gripper and all floating bodies. This makes the example work with arbitrary directive files.
The
floating_joint.urdfversion would still be much neater but it would require the URDF or SDFormat support.This change is