From 1d5b76dd5a064082a27e18181dc3894cacf2d21b Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 4 Jul 2018 13:52:01 +0200
Subject: [PATCH] Add gripper torque constant to SRDF
---
srdf/talos.srdf | 2 ++
1 file changed, 2 insertions(+)
diff --git a/srdf/talos.srdf b/srdf/talos.srdf
index 9f8fcbb..5ec30cb 100644
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -650,11 +650,13 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
<position> 0 0 -0.13 0.707106 0 0.707106 0</position>
<link name="gripper_left_base_link" />
<joint name="gripper_left_joint" />
+ <torque_constant value="48e-3" unit="N.m/A"/>
</gripper>
<gripper name="right_gripper" clearance="0.03">
<position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
<link name="gripper_right_base_link" />
<joint name="gripper_right_joint" />
+ <torque_constant value="48e-3" unit="N.m/A"/>
</gripper>
</robot>
--
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