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Commit 477a875b authored by Johannes Mey's avatar Johannes Mey
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apply erdal's changes from https://github.com/erdalpekel/franka_ros/tree/simulation

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franka_control/config/panda_gazebo_control.yaml 0 → 100644
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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
franka_description/CMakeLists.txt
+ 1
− 1
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cmake_minimum_required(VERSION 3.4)
cmake_minimum_required(VERSION 2.8.3)
project(franka_description)
find_package(catkin REQUIRED)
......
franka_description/meshes/collision/finger.stl 0 → 100644
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franka_description/meshes/collision/hand.stl 0 → 100644
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− 0
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franka_description/meshes/collision/link0.stl 0 → 100644
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franka_description/meshes/collision/link1.stl 0 → 100644
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franka_description/meshes/collision/link2.stl 0 → 100644
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franka_description/meshes/collision/link3.stl 0 → 100644
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franka_description/meshes/collision/link4.stl 0 → 100644
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franka_description/meshes/collision/link5.stl 0 → 100644
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franka_description/meshes/collision/link6.stl 0 → 100644
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franka_description/meshes/collision/link7.stl 0 → 100644
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File added
franka_description/meshes/visual/finger.dae
+ 0
− 2
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......@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......
franka_description/meshes/visual/hand.dae
+ 0
− 5
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......@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -154,7 +150,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......
franka_description/meshes/visual/link0.dae
+ 0
− 12
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......@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -154,7 +150,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -184,7 +179,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -214,7 +208,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -244,7 +237,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -274,7 +266,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -304,7 +295,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -334,7 +324,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -364,7 +353,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
franka_description/meshes/visual/link1.dae
+ 0
− 1
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......@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......
franka_description/meshes/visual/link2.dae
+ 0
− 1
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......@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......
franka_description/meshes/visual/link3.dae
+ 0
− 4
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......@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
franka_description/meshes/visual/link4.dae
+ 0
− 4
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......@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
franka_description/meshes/visual/link5.dae
+ 0
− 3
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......@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
......@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
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