diff --git a/franka_control/config/panda_gazebo_control.yaml b/franka_control/config/panda_gazebo_control.yaml deleted file mode 100644 index 2039c945c3d6b6967dd0686658c4a8be68476ca8..0000000000000000000000000000000000000000 --- a/franka_control/config/panda_gazebo_control.yaml +++ /dev/null @@ -1,40 +0,0 @@ -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 - -position_joint_trajectory_controller: - type: effort_controllers/JointTrajectoryController - joints: - - panda_joint1 - - panda_joint2 - - panda_joint3 - - panda_joint4 - - panda_joint5 - - panda_joint6 - - panda_joint7 - - gains: - panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 } - panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 } - panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 } - panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 } - panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 } - panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 } - panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 } - - constraints: - goal_time: 2.0 - - state_publish_rate: 25 - -franka_gripper: - 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