{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4296","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4296/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4296/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4296/events","html_url":"https://github.com/RobotLocomotion/drake/pull/4296","id":192377920,"number":4296,"title":"Add an LCM controlled Schunk 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simulation responds in a vaguely realistic manner, but has not actually been tuned to match the real gripper.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/4296)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/264235526","html_url":"https://github.com/RobotLocomotion/drake/pull/4296#issuecomment-264235526","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4296","id":264235526,"user":{"login":"sammy-tri","id":17596504,"avatar_url":"https://avatars.githubusercontent.com/u/17596504?v=3","gravatar_id":"","url":"https://api.github.com/users/sammy-tri","html_url":"https://github.com/sammy-tri","followers_url":"https://api.github.com/users/sammy-tri/followers","following_url":"https://api.github.com/users/sammy-tri/following{/other_user}","gists_url":"https://api.github.com/users/sammy-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/sammy-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sammy-tri/subscriptions","organizations_url":"https://api.github.com/users/sammy-tri/orgs","repos_url":"https://api.github.com/users/sammy-tri/repos","events_url":"https://api.github.com/users/sammy-tri/events{/privacy}","received_events_url":"https://api.github.com/users/sammy-tri/received_events","type":"User","site_admin":false},"created_at":"2016-12-01T17:20:39Z","updated_at":"2016-12-01T17:20:39Z","body":"\n\n\n\nReview status: 0 of 12 files reviewed at latest revision, 4 unresolved discussions.\n\n---\n\n*[drake/examples/schunk_wsg/schunk_wsg_simulation.cc, line 63 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/4296#-KXtWzVgfMa3RY1oe4Yk:-KXvLKskxwwHjT2ibCRt:b7ummto) ([raw file](https://github.com/robotlocomotion/drake/blob/cd0bf7fec4d5a7759f6776b82516e616699a08cf/drake/examples/schunk_wsg/schunk_wsg_simulation.cc#L63)):*\n<details><summary><i>Previously, naveenoid (Naveen Kuppuswamy) wrote…</i></summary><blockquote>\n\nI dont see the comment..\n</blockquote></details>\n\nI added documentation for the output port in the class comment, and replaced the magic \"10\" with accessors to the rigid body tree.\n\n---\n\n*[drake/examples/schunk_wsg/schunk_wsg_simulation.cc, line 82 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/4296#-KXqBMi4svcF6aiVyS2k:-KXvOWG4TSZyhVLrL5KB:b-td6l45) ([raw file](https://github.com/robotlocomotion/drake/blob/cd0bf7fec4d5a7759f6776b82516e616699a08cf/drake/examples/schunk_wsg/schunk_wsg_simulation.cc#L82)):*\n<details><summary><i>Previously, naveenoid (Naveen Kuppuswamy) wrote…</i></summary><blockquote>\n\nPerhaps a TODO here for finding a good place to put such system (as in physical system) dependent constants? Im just a bit worried since these are the little things that can annoy  us later during an integration debug..\n</blockquote></details>\n\nMoved constant up to class level and added a doxygen comment.  This class is likely to wind up hoisted to somewhere more generic than this file soon anyway, so a class-level comment seems like it should be easier to notice (I hope?)\n\n---\n\n*[drake/examples/schunk_wsg/schunk_wsg_simulation.cc, line 128 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/4296#-KXtaNWzplPVscJDJnrf:-KXvMjLTeQkFmxMxw-ff:b-4d08ez) ([raw file](https://github.com/robotlocomotion/drake/blob/cd0bf7fec4d5a7759f6776b82516e616699a08cf/drake/examples/schunk_wsg/schunk_wsg_simulation.cc#L128)):*\n<details><summary><i>Previously, naveenoid (Naveen Kuppuswamy) wrote…</i></summary><blockquote>\n\nFor instance :  drake/common/trajectories/qp_spline/spline_generation.h ?\n</blockquote></details>\n\nHmm....   I don't think that would eliminate the part of this code which I'm least certain about (establishing the time, position, and velocity points).  It would get me a spline instead of a linear ramp, which might be useful depending on what the gripper does.  I think Siyuan is working on adding some other simpler spline generation mechanisms also which don't require solving a QP.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/4296)*\n<!-- Sent from Reviewable.io -->\n"}}
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