From 0f83665df0bbe072bb892142d42c8124b5c2d38d Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 24 Mar 2020 09:50:45 +0100
Subject: [PATCH] remove unnecessary file
---
.../config/panda_gazebo_control.yaml | 40 -------------------
1 file changed, 40 deletions(-)
delete mode 100644 franka_control/config/panda_gazebo_control.yaml
diff --git a/franka_control/config/panda_gazebo_control.yaml b/franka_control/config/panda_gazebo_control.yaml
deleted file mode 100644
index 2039c94..0000000
--- a/franka_control/config/panda_gazebo_control.yaml
+++ /dev/null
@@ -1,40 +0,0 @@
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 50
-
-position_joint_trajectory_controller:
- type: effort_controllers/JointTrajectoryController
- joints:
- - panda_joint1
- - panda_joint2
- - panda_joint3
- - panda_joint4
- - panda_joint5
- - panda_joint6
- - panda_joint7
-
- gains:
- panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 }
- panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 }
- panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 }
- panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 }
- panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 }
- panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 }
- panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 }
-
- constraints:
- goal_time: 2.0
-
- state_publish_rate: 25
-
-franka_gripper:
- type: effort_controllers/JointTrajectoryController
- joints:
- - panda_finger_joint1
- - panda_finger_joint2
-
- gains:
- panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 }
- panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 }
-
- state_publish_rate: 25
--
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