Add support to add custom end-effector attachments for Panda, UR5, and Fetch #18
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wbthomason
requested changes
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Jun 25, 2024
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
I had no idea noexcept could make an explicitly defaulted function become implicitly deleted...
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wbthomason
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Jun 26, 2024
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
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This PR adds the functionality for custom end-effector attachments for the Panda, UR5, and Fetch robots. Attachments are specified as collections of spheres at a fixed offset from the end-effector of the robot. Both this offset and the collection of spheres can be set at runtime.
An example script (
scripts/attachments.py) is provided to demonstrate how to create an attachment, attach a colliding sphere, and plan while avoiding collisions between the attachment and the environment.