From 6d281cde95232b353fef06bbd44153e795ecf3b9 Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Mon, 13 Aug 2018 11:22:03 +0200
Subject: [PATCH] Fix end effector parent link in SRDF
---
config/panda_arm_hand.srdf.xacro | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro
index df3985b..82d3097 100644
--- a/config/panda_arm_hand.srdf.xacro
+++ b/config/panda_arm_hand.srdf.xacro
@@ -28,7 +28,7 @@
<joint name="panda_joint7" value="0.785" />
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="hand" parent_link="panda_hand" group="hand" parent_group="panda_arm_hand" />
+ <end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm_hand" />
<!--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. -->
<disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
--
GitLab