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Commit c2f4c289 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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Add magnetic grippers and handles on cylinders and spheres.

parent 9113a52a
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srdf/construction_set/cylinder_08.srdf
View file @ c2f4c289
......@@ -5,4 +5,12 @@
<mask> true true true true true true </mask>
<link name="base_link"/>
</handle>
<gripper name="magnet0" clearance="0.015">
<position> -0.062 0 0 0 0 0 1 </position>
<link name="base_link"/>
</gripper>
<gripper name="magnet1" clearance="0.015">
<position> 0.062 0 0 1 0 0 0 </position>
<link name="base_link"/>
</gripper>
</robot>
srdf/construction_set/sphere.srdf
View file @ c2f4c289
......@@ -5,4 +5,9 @@
<mask> true true true true true true </mask>
<link name="base_link"/>
</handle>
<handle name="magnet" clearance="0.025">
<position> 0 0 0 1 0 0 0 </position>
<link name="base_link"/>
<mask> true true true false false false</mask>
</handle>
</robot>
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