From 21ff327096cf1110e8bebd5739098a1f516f3678 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Wed, 17 Apr 2019 11:39:42 +0200
Subject: [PATCH] [talos][icub] Added end_effector tag
---
icub_description/srdf/icub.srdf | 6 ++----
talos_data/srdf/talos.srdf | 2 ++
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/icub_description/srdf/icub.srdf b/icub_description/srdf/icub.srdf
index 88886d0..583311c 100644
--- a/icub_description/srdf/icub.srdf
+++ b/icub_description/srdf/icub.srdf
@@ -79,10 +79,8 @@
<group name="torso" />
</group>
-
- <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="r_hand_dh_frame_fixed_joint" parent_group="right_arm" />
- <end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="l_hand_dh_frame_fixed_joint" parent_group="left_arm" />
+ <end_effector name="r_foot" parent_link="r_sole" group="r_leg" />
+ <end_effector name="l_foot" parent_link="l_sole" group="l_leg" />
<group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 0.60 0. 0. 1. 0." />
diff --git a/talos_data/srdf/talos.srdf b/talos_data/srdf/talos.srdf
index 84d552c..84b2365 100644
--- a/talos_data/srdf/talos.srdf
+++ b/talos_data/srdf/talos.srdf
@@ -84,6 +84,8 @@
<group name="torso" />
</group>
+ <end_effector name="r_foot" parent_link="right_sole_link" group="r_leg" />
+ <end_effector name="l_foot" parent_link="left_sole_link" group="l_leg" />
<passive_joint name="gripper_left_motor_single_joint" />
<passive_joint name="gripper_left_inner_double_joint" />
--
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