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Commit f6a990f0 authored by Rohan Budhiraja's avatar Rohan Budhiraja
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[srdf] update halfsitting 

*Previous halfSitting had non-horizontal feet
parent d67b8d26
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Inline Side-by-side
srdf/talos.srdf
View file @ f6a990f0
......@@ -21,7 +21,7 @@
<joint name="wrist_right_tool_joint" />
<chain base_link="torso_2_link" tip_link="wrist_right_ft_tool_link" />
</group>
<group name="gripper_right">
<!-- <group name="gripper_right">
<link name="gripper_right_base_link" />
<link name="gripper_right_inner_double_link" />
<link name="gripper_right_fingertip_1_link" />
......@@ -33,18 +33,6 @@
<joint name="gripper_right_joint" />
<chain base_link="wrist_right_ft_tool_link" tip_link="gripper_right_base_link" />
</group>
<group name="l_arm">
<joint name="arm_left_1_joint" />
<joint name="arm_left_2_joint" />
<joint name="arm_left_3_joint" />
<joint name="arm_left_4_joint" />
<joint name="arm_left_5_joint" />
<joint name="arm_left_6_joint" />
<joint name="arm_left_7_joint" />
<joint name="wrist_left_ft_joint" />
<joint name="wrist_left_tool_joint" />
<chain base_link="torso_2_link" tip_link="wrist_left_ft_tool_link" />
</group>
<group name="gripper_left">
<link name="gripper_left_base_link" />
<link name="gripper_left_inner_double_link" />
......@@ -57,6 +45,19 @@
<joint name="gripper_left_joint" />
<chain base_link="wrist_left_ft_tool_link" tip_link="gripper_left_base_link" />
</group>
-->
<group name="l_arm">
<joint name="arm_left_1_joint" />
<joint name="arm_left_2_joint" />
<joint name="arm_left_3_joint" />
<joint name="arm_left_4_joint" />
<joint name="arm_left_5_joint" />
<joint name="arm_left_6_joint" />
<joint name="arm_left_7_joint" />
<joint name="wrist_left_ft_joint" />
<joint name="wrist_left_tool_joint" />
<chain base_link="torso_2_link" tip_link="wrist_left_ft_tool_link" />
</group>
<group name="torso">
<joint name="torso_1_joint" />
<joint name="torso_2_joint" />
......@@ -144,15 +145,15 @@
<joint name="arm_right_7_joint" value="0.1" />
<joint name="head_1_joint" value="0" />
<joint name="head_2_joint" value="0" />
<joint name="leg_left_1_joint" value="0.000093" />
<joint name="leg_left_2_joint" value="0.000406" />
<joint name="leg_left_3_joint" value="-0.449102" />
<joint name="leg_left_1_joint" value="0.0" />
<joint name="leg_left_2_joint" value="0.0" />
<joint name="leg_left_3_joint" value="-0.411354" />
<joint name="leg_left_4_joint" value="0.859395" />
<joint name="leg_left_5_joint" value="-0.448041" />
<joint name="leg_left_6_joint" value="-0.001708" />
<joint name="leg_right_1_joint" value="0.000093" />
<joint name="leg_right_2_joint" value="0.000406" />
<joint name="leg_right_3_joint" value="-0.449102" />
<joint name="leg_right_1_joint" value="0.0" />
<joint name="leg_right_2_joint" value="0.0" />
<joint name="leg_right_3_joint" value="-0.411354" />
<joint name="leg_right_4_joint" value="0.859395" />
<joint name="leg_right_5_joint" value="-0.448041" />
<joint name="leg_right_6_joint" value="-0.001708" />
......
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