From 3aacadb3b22bd925ce69ed884d2e4747f1afba07 Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Sun, 25 Aug 2024 12:37:09 +0200
Subject: [PATCH] Use arm instead of arm_hand in toppra

---
 src/add_toppra_time_parameterization.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/add_toppra_time_parameterization.cpp b/src/add_toppra_time_parameterization.cpp
index e3cb9fd..6470268 100644
--- a/src/add_toppra_time_parameterization.cpp
+++ b/src/add_toppra_time_parameterization.cpp
@@ -91,7 +91,7 @@ class AddToppraTimeParameterization : public planning_interface::PlanningRespons
 
     // TODO(sjahr) Replace with subscribed robot description
     const char* ModelUrl = "package://drake_models/franka_description/"
-                           "urdf/panda_arm_hand.urdf";
+                           "urdf/panda_arm.urdf";
     const std::string urdf = PackageMap{}.ResolveUrl(ModelUrl);
     Parser(&plant, &scene_graph).AddModels(urdf);
     plant.WeldFrames(plant.world_frame(), plant.GetFrameByName("panda_link0"));