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Add transport joint state #67

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merged 1 commit into from
Jul 6, 2020
Merged

Add transport joint state #67

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9 changes: 9 additions & 0 deletions config/panda_arm.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,15 @@
<joint name="panda_joint6" value="0" />
<joint name="panda_joint7" value="0.785" />
</group_state>
<group_state name="transport" group="panda_arm">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="-0.5599" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="-2.97" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="0" />
<joint name="panda_joint7" value="0.785" />
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" />
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