Manipulation station needs refactoring to be able to swap grippers readily...

[edrumwri]

(for enabling a TRI-funded university researcher's project).

[EricCousineau-TRI]

(Peanut gallery comment) Please make this solution be decomposition + modularity, not more entry points or configurations switches!

[sherm1]

status: much pain, almost refactored

[edrumwri]

Correction: it's almost refactored in my branch. Getting it through the PR process may be painful!

[EricCousineau-TRI]

Is there a WIP branch that the aforementioned peanut gallery can peek at?

[edrumwri]

I'll post it to this issue when ready. I'm now rejiggering python bindings for the refactor.

…

-------------------------------- Evan Drumwright Senior Research Scientist http://positronicslab.github.io Toyota Research Institute Palo Alto, CA

On Wed, Mar 27, 2019 at 7:07 AM Eric Cousineau ***@***.***> wrote: Is there a WIP branch that the aforementioned peanut gallery can peek at? — You are receiving this because you were assigned. Reply to this email directly, view it on GitHub <#10851 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ACHwz54QYazjAmOee4S3qRHKjKHJTAJNks5va3s2gaJpZM4bjwIt> .

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[tri-ltyyu]

@edrumwri, any update PR to this issue.

[edrumwri]

No PR yet, sorting out a final technical wrinkle before I have a running version locally.

…

-------------------------------- Evan Drumwright Senior Research Scientist http://positronicslab.github.io Toyota Research Institute Palo Alto, CA

On Fri, Apr 12, 2019 at 11:33 AM tri-ltyyu ***@***.***> wrote: @edrumwri <https://github.com/edrumwri>, any update PR to this issue. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#10851 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ACHwzx8x6PCY9iBK6ZVTQrY4jTHr12Hmks5vgNGFgaJpZM4bjwIt> .

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[tri-ltyyu]

Is it possible to post the WIP branch to make sure the concerns about modularity raised earlier are addressed?

[edrumwri]

Yes, but please wait until I've converged on something that runs!

…

-------------------------------- Evan Drumwright Senior Research Scientist http://positronicslab.github.io Toyota Research Institute Palo Alto, CA

On Mon, Apr 15, 2019 at 8:45 AM tri-ltyyu ***@***.***> wrote: Is it possible to post the WIP branch to make sure the concerns about modularity raised earlier are addressed? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#10851 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ACHwz-QJYWl54KOTaXhL9qgdJkTbZUmdks5vhJ6cgaJpZM4bjwIt> .

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[edrumwri]

Finally got the refactor running today (whew!) I'm going to clean up my code a little and then point interested folks to my branch for comment.

[edrumwri]

@EricCousineau-TRI @rcory (cc @tri-ltyyu) PTAL at:

https://github.com/edrumwri/drake/tree/manipulation_station_refactor

Unit tests have yet to be modified. Only the end_effector_teleop_mouse is runnable. So this is not ready for PR but will give you the idea of the proposed refactor.

[EricCousineau-TRI]

I like the manipulator + gripper consolidation, a lot!

My only minor recommendation is that CombindIiwaWsg not have any Iiwa or Wsg-specific methods that are redundant w.r.t. the base interface, unless they're for backwards compatibility and are slated for deprecation.

[edrumwri]

Status: waiting on @RussTedrake to review the proposed API.

[edrumwri]

First PR is wending through the review process. See #11320.

[sherm1]

This looks dead to me. @EricCousineau-TRI @rcory should this be closed now? (Was assigned to Evan.)

[rcory]

Fine with me to close this out.

[sherm1]

OK. @EricCousineau-TRI please close this if you think we should or reassign.

[EricCousineau-TRI]

Will close for now. @edrumwri, please let us know if you might need this in the future!