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Unverified Commit b06b5732 authored by Libor Wagner's avatar Libor Wagner Committed by GitHub
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Add tranposrt joint state (#67)


Co-authored-by: default avatarLibor Wagner <libor.wagner@cvut.cz>
parent 5c3090b0
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...@@ -28,6 +28,15 @@ ...@@ -28,6 +28,15 @@
<joint name="panda_joint6" value="0" /> <joint name="panda_joint6" value="0" />
<joint name="panda_joint7" value="0.785" /> <joint name="panda_joint7" value="0.785" />
</group_state> </group_state>
<group_state name="transport" group="panda_arm">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="-0.5599" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="-2.97" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="0" />
<joint name="panda_joint7" value="0.785" />
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.--> <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<!--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: 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="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" /> <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" />
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