Commit 21ff3270 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[talos][icub] Added end_effector tag

parent 92005272
...@@ -79,10 +79,8 @@ ...@@ -79,10 +79,8 @@
<group name="torso" /> <group name="torso" />
</group> </group>
<end_effector name="r_foot" parent_link="r_sole" group="r_leg" />
<!--END EFFECTOR: Purpose: Represent information about an end effector.--> <end_effector name="l_foot" parent_link="l_sole" group="l_leg" />
<end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="r_hand_dh_frame_fixed_joint" parent_group="right_arm" />
<end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="l_hand_dh_frame_fixed_joint" parent_group="left_arm" />
<group_state name="half_sitting" group="all"> <group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 0.60 0. 0. 1. 0." /> <joint name="root_joint" value="0. 0. 0.60 0. 0. 1. 0." />
......
...@@ -84,6 +84,8 @@ ...@@ -84,6 +84,8 @@
<group name="torso" /> <group name="torso" />
</group> </group>
<end_effector name="r_foot" parent_link="right_sole_link" group="r_leg" />
<end_effector name="l_foot" parent_link="left_sole_link" group="l_leg" />
<passive_joint name="gripper_left_motor_single_joint" /> <passive_joint name="gripper_left_motor_single_joint" />
<passive_joint name="gripper_left_inner_double_joint" /> <passive_joint name="gripper_left_inner_double_joint" />
......
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