updated configuration for fingers

9a8da68d · Sebastian Ebert · a651f4fe · 9a8da68d · 9a8da68d · 9a8da68d
Commit 9a8da68d authored 3 years ago by Sebastian Ebert
--- a/meshes/collision/finger.stl
+++ b/meshes/collision/finger.stl
--- a/meshes/collision/finger_detailed.stl
+++ b/meshes/collision/finger_detailed.stl
--- a/meshes/collision/finger_horizontal.stl
+++ b/meshes/collision/finger_horizontal.stl
--- a/meshes/collision/finger_old.stl
+++ b/meshes/collision/finger_old.stl
--- a/meshes/visual/finger.dae
+++ b/meshes/visual/finger.dae
--- a/meshes/visual/finger_horizontal.dae
+++ b/meshes/visual/finger_horizontal.dae
--- a/meshes/visual/finger_old.dae
+++ b/meshes/visual/finger_old.dae
--- a/robots/panda_arm_hand.urdf.xacro
+++ b/robots/panda_arm_hand.urdf.xacro
@@ -26,10 +26,10 @@
        <gripper_link> panda_leftfinger </gripper_link>
      </arm>
      <forces_angle_tolerance>100</forces_angle_tolerance>
-      <update_rate>4</update_rate>
+      <update_rate>5</update_rate>
-      <grip_count_threshold>4</grip_count_threshold>
+      <grip_count_threshold>1</grip_count_threshold>
      <max_grip_count>8</max_grip_count>
-      <release_tolerance>0.005</release_tolerance>
+      <release_tolerance>0.006</release_tolerance>
      <disable_collisions_on_attach>false</disable_collisions_on_attach>
      <contact_topic>__default_topic__</contact_topic>
    </plugin>