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Commit b0b70632 authored by Johannes Mey's avatar Johannes Mey
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switch fingers to effort controller

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robots/panda.transmission.xacro
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View file @ b0b70632
......@@ -91,21 +91,25 @@
<transmission name="${robot_name}_leftfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<!-- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>-->
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<!-- <mechanicalReduction>1</mechanicalReduction>-->
</actuator>
</transmission>
<transmission name="${robot_name}_rightfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<!-- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>-->
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<!-- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>-->
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......
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