From db50a20a65bdedb89fc77e5b91fd4aebbe63dd18 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Thu, 8 Mar 2018 06:13:43 +0100
Subject: [PATCH] Fix pyrene.yaml and integrates parallel joints (grippers)
---
sot_pyrene_bringup/sot/pyrene.yaml | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/sot_pyrene_bringup/sot/pyrene.yaml b/sot_pyrene_bringup/sot/pyrene.yaml
index 8beec08..d07fd1e 100644
--- a/sot_pyrene_bringup/sot/pyrene.yaml
+++ b/sot_pyrene_bringup/sot/pyrene.yaml
@@ -5,3 +5,15 @@ sot:
arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint,
head_1_joint,head_2_joint]
+ joint_state_parallel: { gripper_left_inner_double_joint: gripper_left_joint,
+ gripper_left_fingertip_1_joint: -gripper_left_joint,
+ gripper_left_fingertip_2_joint: -gripper_left_joint,
+ gripper_left_motor_single_joint: -gripper_left_joint,
+ gripper_left_inner_single_joint: -gripper_left_joint,
+ gripper_left_fingertip_3_joint: -gripper_left_joint,
+ gripper_right_inner_double_joint: gripper_right_joint,
+ gripper_right_fingertip_1_joint: -gripper_right_joint,
+ gripper_right_fingertip_2_joint: -gripper_right_joint,
+ gripper_right_motor_single_joint: -gripper_right_joint,
+ gripper_right_inner_single_joint: -gripper_right_joint,
+ gripper_right_fingertip_3_joint: -gripper_right_joint}
--
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