From a566bc704f14f4ebb3b51ae48587a6a7b752e248 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Wed, 19 Aug 2020 09:25:05 +0200
Subject: [PATCH] first simulated grasping state
---
config/panda_control.yaml | 6 +++++-
worlds/simulator.world | 6 +++---
2 files changed, 8 insertions(+), 4 deletions(-)
diff --git a/config/panda_control.yaml b/config/panda_control.yaml
index 65fcaf7..dae5e66 100644
--- a/config/panda_control.yaml
+++ b/config/panda_control.yaml
@@ -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:
diff --git a/worlds/simulator.world b/worlds/simulator.world
index 4ee170e..a1dd28b 100644
--- a/worlds/simulator.world
+++ b/worlds/simulator.world
@@ -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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