adding new grasp frame

[nlyubova]

@mikaelarguedas , what do you finally think about adding a grasping frame? it is actually very helpful for grasping objects with MoveIt.

[nlyubova]

@mikaelarguedas Mikael, would you agree to add it to a new "grasp_frame" branch?

[mikaelarguedas]

I remember we had the discussion before. I think the part that has still not be resolved is that introducing this new "virtual" link and joint makes us diverge from the internal model used by naoqi. Is the need to have an additional link for grasping ? or that the current gripper frame is not where it should be?

• If the first one and it makes things easier for application development I'm fine with updating it.
• If the latter: could we just change the current definition of L/RHand to have the gripper frame in the right place?

As in previous discussions, for whichever solution we chose, we should add this in the generators rather than in the generated files would be more future-proof and avoid unexpected breakage in the future.

I don't think we need to declare transmissions for joints that are actually not moving at all, so the new transmission tags should be removed IMO.

[nlyubova]

@mikaelarguedas thanks for your answer! I agree for any of these two solutions. maybe it is better to update the current L/RHand if nobody use it.

Could you please update your package generating URDF if I provide new values?