Open
Description
The functionality is complex and the code is difficult to read with all of the templated callbacks, etc, and the split between python and c++. Here are a few things that I believe can be made to work now, but I would appreciate an example and/or documentation:
- adding a new driver config from pydrake. @jwnimmer-tri told me that "ApplyDriverConfigs does
apply_function = getattr(module, "ApplyDriverConfig"). So they can add new configs, [pydrake users] just need to make a function in the same module to apply it / them." - lcm channel suffix. My first quick attempt to add multiple iiwas to the simulation resulted in them both publishing/listening on the same channels:
# This file is licensed under the MIT-0 License.
# See LICENSE-MIT-0.txt in the current directory.
# This demo simulation shows an IIWA arm with an attached WSG gripper.
Demo:
directives:
- add_model:
name: amazon_table
file: package://drake/examples/manipulation_station/models/amazon_table_simplified.sdf
- add_weld:
parent: world
child: amazon_table::amazon_table
- add_model:
name: iiwa
file: package://drake/manipulation/models/iiwa_description/urdf/iiwa14_primitive_collision.urdf
default_joint_positions:
iiwa_joint_1: [-0.2]
iiwa_joint_2: [0.79]
iiwa_joint_3: [0.32]
iiwa_joint_4: [-1.76]
iiwa_joint_5: [-0.36]
iiwa_joint_6: [0.64]
iiwa_joint_7: [-0.73]
- add_frame:
name: iiwa_on_world
X_PF:
base_frame: world
translation: [0, -0.7, 0]
rotation: !Rpy { deg: [0, 0, 90] }
- add_weld:
parent: iiwa_on_world
child: iiwa::base
- add_model:
name: wsg
file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf
default_joint_positions:
left_finger_sliding_joint: [-0.02]
right_finger_sliding_joint: [0.02]
- add_frame:
name: wsg_on_iiwa
X_PF:
base_frame: iiwa::iiwa_link_7
translation: [0, 0, 0.114]
rotation: !Rpy { deg: [90, 0, 90] }
- add_weld:
parent: wsg_on_iiwa
child: wsg::body
- add_model:
name: iiwa2
file: package://drake/manipulation/models/iiwa_description/urdf/iiwa14_primitive_collision.urdf
default_joint_positions:
iiwa_joint_1: [-0.2]
iiwa_joint_2: [0.79]
iiwa_joint_3: [0.32]
iiwa_joint_4: [-1.76]
iiwa_joint_5: [-0.36]
iiwa_joint_6: [0.64]
iiwa_joint_7: [-0.73]
- add_frame:
name: iiwa2_on_world
X_PF:
base_frame: world
translation: [0, 0.7, 0]
rotation: !Rpy { deg: [0, 0, 90] }
- add_weld:
parent: iiwa2_on_world
child: iiwa2::base
- add_model:
name: wsg2
file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf
default_joint_positions:
left_finger_sliding_joint: [-0.02]
right_finger_sliding_joint: [0.02]
- add_frame:
name: wsg2_on_iiwa
X_PF:
base_frame: iiwa2::iiwa_link_7
translation: [0, 0, 0.114]
rotation: !Rpy { deg: [90, 0, 90] }
- add_weld:
parent: wsg2_on_iiwa
child: wsg2::body
cameras:
oracular_view:
name: camera_0
X_PB:
translation: [1.5, 0.8, 1.25]
rotation: !Rpy { deg: [-120, 5, 125] }
model_drivers:
iiwa: !IiwaDriver
hand_model_name: wsg
wsg: !SchunkWsgDriver {}
iiwa2: !IiwaDriver
hand_model_name: wsg2
wsg2: !SchunkWsgDriver {}