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Commit c95e8115 authored by Florent Lamiraux's avatar Florent Lamiraux
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Increase clearance for grippers.

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1 merge request!13Increase clearance for grippers and add model of Pyrene with new head
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srdf/talos.srdf
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...@@ -682,14 +682,14 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant. ...@@ -682,14 +682,14 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
<disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" /> <disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
<gripper name="left_gripper" clearance="0.03"> <gripper name="left_gripper" clearance="0.07">
<position> 0 0 -0.13 0.707106 0 0.707106 0</position> <position> 0 0 -0.13 0.707106 0 0.707106 0</position>
<link name="gripper_left_base_link" /> <link name="gripper_left_base_link" />
<joint name="gripper_left_joint" /> <joint name="gripper_left_joint" />
<torque_constant value="48e-3" unit="N.m/A"/> <torque_constant value="48e-3" unit="N.m/A"/>
</gripper> </gripper>
<gripper name="right_gripper" clearance="0.03"> <gripper name="right_gripper" clearance="0.07">
<position> 0 0 -0.13 0 -0.707106 0 0.707106 </position> <position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
<link name="gripper_right_base_link" /> <link name="gripper_right_base_link" />
<joint name="gripper_right_joint" /> <joint name="gripper_right_joint" />
......
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