From e3a431a9ca1421d254e7d121ece6620d4a9254f1 Mon Sep 17 00:00:00 2001
From: simonGoldstein <42970868+simonGoldstein@users.noreply.github.com>
Date: Thu, 25 Jul 2019 16:19:53 -0600
Subject: [PATCH] Added open and closed poses (#34)
---
config/panda_arm_hand.srdf.xacro | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro
index 39f7db9..9e60335 100644
--- a/config/panda_arm_hand.srdf.xacro
+++ b/config/panda_arm_hand.srdf.xacro
@@ -27,6 +27,14 @@
<joint name="panda_joint6" value="1.571" />
<joint name="panda_joint7" value="0.785" />
</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 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. -->
--
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