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Commit e3a431a9 authored by simonGoldstein's avatar simonGoldstein Committed by Mike Lautman
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Added open and closed poses (#34)

parent 4e3fd7e3
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...@@ -27,6 +27,14 @@ ...@@ -27,6 +27,14 @@
<joint name="panda_joint6" value="1.571" /> <joint name="panda_joint6" value="1.571" />
<joint name="panda_joint7" value="0.785" /> <joint name="panda_joint7" value="0.785" />
</group_state> </group_state>
<group_state name="open" group="hand">
<joint name="panda_finger_joint1" value="0.035" />
<joint name="panda_finger_joint2" value="0.035" />
</group_state>
<group_state name="close" group="hand">
<joint name="panda_finger_joint1" value="0" />
<joint name="panda_finger_joint2" value="0" />
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.--> <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" /> <end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. --> <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
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