adds urdf as a param

moveit · Sep 18, 2024 · c873ba5 · c873ba5
1 parent 545146d
commit c873ba5
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Showing 2 changed files with 11 additions and 2 deletions.
diff --git a/res/ktopt_moveit_parameters.yaml b/res/ktopt_moveit_parameters.yaml
@@ -1,4 +1,12 @@
 ktopt_interface:
+  drake_robot_description: {
+    type: string,
+    description: "Robot description to be loaded by the internal Drake MultibodyPlant",
+    default_value: "package://drake_models/franka_description/urdf/panda_arm_hand.urdf",
+    # validation: {
+    #   gt_eq<>: [1]
+    # }
+  }
   num_iterations: {
     type: int,
     description: "Number of iterations for the Drake mathematical program solver.",

diff --git a/src/ktopt_planning_context.cpp b/src/ktopt_planning_context.cpp
@@ -182,8 +182,9 @@ void KTOptPlanningContext::setRobotDescription(std::string robot_description)
   // auto robot_instance = Parser(plant_, scene_graph_).AddModelsFromString(robot_description_, ".urdf");
 
   // HACK: For now loading directly from drake's package map
-  const char* ModelUrl = "package://drake_models/franka_description/"
-                         "urdf/panda_arm_hand.urdf";
+  // const char* ModelUrl = "package://drake_models/franka_description/"
+  //                        "urdf/panda_arm_hand.urdf";
+  const char* ModelUrl = params_.drake_robot_description.c_str();
   const std::string urdf = PackageMap{}.ResolveUrl(ModelUrl);
   auto robot_instance = Parser(&plant, &scene_graph).AddModels(urdf);
   plant.WeldFrames(plant.world_frame(), plant.GetFrameByName("panda_link0"));