Not all data we need are available inside the URDF file. For example, the GCP (Grasp Center Point) values are different for each hand, and they are set manually (by displaying the hand and the GCP in 3D). Similarly, TCP (Tool Center Point) is also set manually. Move these data to a yaml file!
Not all data we need are available inside the URDF file. For example, the GCP (Grasp Center Point) values are different for each hand, and they are set manually (by displaying the hand and the GCP in 3D). Similarly, TCP (Tool Center Point) is also set manually. Move these data to a yaml file!