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Add useful gripper frames to URDF #337

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manuelli opened this issue Sep 17, 2018 · 0 comments
Open
2 tasks

Add useful gripper frames to URDF #337

manuelli opened this issue Sep 17, 2018 · 0 comments
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@gizatt @pangtao22

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@manuelli
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manuelli commented Sep 17, 2018 •
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Would be very convenient to add a gripper palm frame to the urdf used both in the ROS stack and the one used in the plan_runner. Ideally this would be added using xacro rather than one-off manual hacking.

Useful frames to have.

  • gripper palm frame
  • between fingertips frame

I think the relevant urdfs are here

Related to #296.
@manuelli manuelli changed the title Add gripper palm frame to urdf Add useful gripper frames to URDF Oct 2, 2018
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@gizatt @manuelli @pangtao22