Defining the grippers on Baxter for MoveIt!

asked 2014-07-09 15:15:08 -0500

tgd gravatar image

updated 2014-07-15 13:57:00 -0500


What would be the best way to define grippers on Baxter to be integrated with MoveIt! (collision avoidance and endpoint control)? My trouble is with linking the gripper's URDF with Baxter's xacro-generated URDF as well as defining the gripper's properties in baxter's SRDF for MoveIt!'s pick and place operations.


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