From e20ac1675499e8136f585fa6c458c608193fbad1 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 5 Jul 2017 18:55:28 +0200
Subject: [PATCH] Add grippers in SRDF
---
srdf/talos.srdf | 11 +++++++++++
1 file changed, 11 insertions(+)
diff --git a/srdf/talos.srdf b/srdf/talos.srdf
index d0e38fe..707263c 100644
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -644,4 +644,15 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
<disable_collisions link1="torso_1_link" link2="torso_2_link" reason="Adjacent" />
<disable_collisions link1="wrist_left_ft_link" link2="wrist_left_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">
+ <position> 0 0 -0.13 0.707106 0 0.707106 0</position>
+ <link name="gripper_left_base_link" />
+ </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" />
+ </gripper>
</robot>
--
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