Commit e70f4fb9 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[SRDF] Add joints to SRDF tag.

parent c983822d
......@@ -2,6 +2,9 @@
<gripper clearance="0.09" name="gripper">
<position xyz="0.13 0.038 0" />
<link name="wrist_ft_tool_link" />
<joint name="hand_thumb_joint"/>
<joint name="hand_index_joint"/>
<joint name="hand_mrl_joint" />
</gripper>
<disable_collisions link1="torso_fixed_link" link2="arm_2_link" reason="User defined" />
......
......@@ -2,5 +2,6 @@
<gripper name="gripper" clearance="0.05">
<position xyz="0 0 -0.12" rpy="1.5707963267948966 1.5707963267948966 0"/>
<link name="gripper_link" />
<joint name="gripper_finger_joint" />
</gripper>
</robot>
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