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Commit 6bd17f47 authored by Robin's avatar Robin
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tried to add default pose

parent 1223b2b6
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......@@ -9,4 +9,4 @@ controller_list:
- wrist_3_joint
initial: # Define initial robot poses.
- group: manipulator
pose: home
pose: default_pose
......@@ -29,6 +29,17 @@
<joint name="wrist_2_joint" value="0" />
<joint name="wrist_3_joint" value="0" />
</group_state>
<group_state name="default_pose" group="manipulator">
<joint name="elbow_joint" value="0" />
<joint name="shoulder_lift_joint" value="-1.5708" />
<joint name="shoulder_pan_joint" value="-1.5708" />
<joint name="wrist_1_joint" value="-1.5708" />
<joint name="wrist_2_joint" value="1.5708" />
<joint name="wrist_3_joint" value="0" />
</group_state>
<!--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="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
......
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