From f48c5e76f16951f92881fa23b4fa94867afaf664 Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Thu, 15 Dec 2022 13:07:18 +0100
Subject: [PATCH] franka-ros fixes

---
 README.md         | 2 +-
 launch/env.launch | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 55fd8a1..1dc3420 100644
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@ pip install -r requirements.txt
 
 Run `catkin build active_grasp` to build the package.
 
-Finally, download the [assets folder](https://drive.google.com/file/d/1tvPg1yIiEiY6r_lsZi6sND2D5wyvqD5b/view) and extract it inside the repository.
+Finally, download the [assets folder](https://drive.google.com/file/d/1xJF9Cd82ybCH3nCdXtQRktTr4swDcNFD/view) and extract it inside the repository.
 
 ## Experiments
 
diff --git a/launch/env.launch b/launch/env.launch
index e29bb21..68595eb 100644
--- a/launch/env.launch
+++ b/launch/env.launch
@@ -8,7 +8,9 @@
 
   <!-- Launch MoveIt -->
   <node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
-  <include file="$(find panda_moveit_config)/launch/move_group.launch" />
+  <include file="$(find panda_moveit_config)/launch/move_group.launch">
+    <arg name="transmission" value="position" />
+  </include>
 
   <!-- Simulated environment -->
   <group if="$(arg sim)">