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Add fully extended pose: 'extended' (#39)
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@henningkayser @rhaschke
henningkayser authored and rhaschke committed Aug 8, 2019
1 parent 0b7ac4e commit 168f352
Showing 1 changed file with 9 additions and 0 deletions.
9 changes: 9 additions & 0 deletions config/panda_arm_hand.srdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,15 @@
<joint name="panda_joint6" value="1.571" />
<joint name="panda_joint7" value="0.785" />
</group_state>
<group_state name="extended" group="panda_arm_hand">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="0" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="0" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="0" />

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@progtologist

progtologist Oct 21, 2019

This joint actually causes a collision
Perhaps change it to
<joint name="panda_joint6" value="1.571" />
<joint name="panda_joint7" value="0.785" />
</group_state>
<group_state name="open" group="hand">
<joint name="panda_finger_joint1" value="0.035" />
<joint name="panda_finger_joint2" value="0.035" />
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