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Adding planning_frame and ee_frame to panda_simulated_config.yaml #2591

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Adding planning_frame and ee_frame to panda_simulated_config.yaml #2591

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2 changes: 2 additions & 0 deletions moveit_ros/moveit_servo/config/panda_simulated_config.yaml
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Expand Up @@ -37,6 +37,8 @@ is_primary_planning_scene_monitor: true

## MoveIt properties
move_group_name: panda_arm # Often 'manipulator' or 'arm'
planning_frame: world # Frame in which to plan
ee_frame: panda_hand # Frame to move

## Configure handling of singularities and joint limits
lower_singularity_threshold: 17.0 # Start decelerating when the condition number hits this (close to singularity)
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