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CeTI
ROS
ROS Packages
panda_simulation
Commits
a566bc70
Commit
a566bc70
authored
Aug 19, 2020
by
Sebastian Ebert
Browse files
first simulated grasping state
parent
cabb18c9
Changes
2
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config/panda_control.yaml
View file @
a566bc70
...
...
@@ -20,11 +20,15 @@
state_publish_rate
:
100
panda_hand_controller
:
type
:
position
_controllers/JointTrajectoryController
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
joint_position_controller
:
...
...
worlds/simulator.world
View file @
a566bc70
...
...
@@ -12,10 +12,10 @@
<physics
name=
'default_physics'
default=
'0'
type=
'ode'
>
<!-- the max step size is set to 0.001 by default. -->
<!-- When increasing it, the simulation quality may suffer. -->
<max_step_size>
0.00
2
</max_step_size>
<max_step_size>
0.00
1
</max_step_size>
<!-- this factor actually is computed by multiplying the other two -->
<real_time_factor>
0.2
</real_time_factor>
<real_time_update_rate>
100
</real_time_update_rate>
<real_time_factor>
1.0
</real_time_factor>
<real_time_update_rate>
100
0
</real_time_update_rate>
</physics>
</world>
</sdf>
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