From b0b70632bebe79fee15861af1a6b6f20884b49db Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Sun, 23 Aug 2020 22:55:02 +0200 Subject: [PATCH] switch fingers to effort controller --- robots/panda.transmission.xacro | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/robots/panda.transmission.xacro b/robots/panda.transmission.xacro index f293138..32dee85 100644 --- a/robots/panda.transmission.xacro +++ b/robots/panda.transmission.xacro @@ -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> -- GitLab