Commit a566bc70 authored by Sebastian Ebert's avatar Sebastian Ebert
Browse files

first simulated grasping state

parent cabb18c9
......@@ -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:
......
......@@ -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>0.002</max_step_size>
<max_step_size>0.001</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>1000</real_time_update_rate>
</physics>
</world>
</sdf>
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