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Use arm instead of arm_hand in toppra #39

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merged 2 commits into from
Aug 26, 2024
Merged

Use arm instead of arm_hand in toppra #39

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3aacadb
Use arm instead of arm_hand in toppra
sjahr Aug 25, 2024
9573d58
Merge branch 'main' into pr-fix-segfault
sea-bass Aug 25, 2024
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2 changes: 1 addition & 1 deletion src/add_toppra_time_parameterization.cpp
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Expand Up @@ -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"));
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