diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro index 9decba818491036a29b8cca2842c1d1c94b64158..51c59c7271c84db41285df863b7bc885ba5cef40 100644 --- a/config/panda_arm.xacro +++ b/config/panda_arm.xacro @@ -7,24 +7,6 @@ <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group--> <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names--> <group name="panda_arm"> - <link name="panda_link0" /> - <link name="panda_link1" /> - <link name="panda_link2" /> - <link name="panda_link3" /> - <link name="panda_link4" /> - <link name="panda_link5" /> - <link name="panda_link6" /> - <link name="panda_link7" /> - <link name="panda_link8" /> - <joint name="virtual_joint" /> - <joint name="panda_joint1" /> - <joint name="panda_joint2" /> - <joint name="panda_joint3" /> - <joint name="panda_joint4" /> - <joint name="panda_joint5" /> - <joint name="panda_joint6" /> - <joint name="panda_joint7" /> - <joint name="panda_joint8" /> <chain base_link="panda_link0" tip_link="panda_link8" /> </group> <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->