diff --git a/franka_description/robots/panda.transmission.xacro b/franka_description/robots/panda.transmission.xacro index 9b8d7f1eeddfae40d3a31175f88265681c2e0a65..f29313877d62e86a3f95779428c1c38783643a92 100644 --- a/franka_description/robots/panda.transmission.xacro +++ b/franka_description/robots/panda.transmission.xacro @@ -13,10 +13,10 @@ <transmission name="${robot_name}_tran_1"> <type>transmission_interface/SimpleTransmission</type> <joint name="${robot_name}_joint1"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="${robot_name}_motor_1"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> @@ -24,10 +24,10 @@ <transmission name="${robot_name}_tran_2"> <type>transmission_interface/SimpleTransmission</type> <joint name="${robot_name}_joint2"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="${robot_name}_motor_2"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> @@ -35,10 +35,10 @@ <transmission name="${robot_name}_tran_3"> <type>transmission_interface/SimpleTransmission</type> <joint name="${robot_name}_joint3"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="${robot_name}_motor_3"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> @@ -46,10 +46,10 @@ <transmission name="${robot_name}_tran_4"> <type>transmission_interface/SimpleTransmission</type> <joint name="${robot_name}_joint4"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="${robot_name}_motor_4"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> @@ -57,10 +57,10 @@ <transmission name="${robot_name}_tran_5"> <type>transmission_interface/SimpleTransmission</type> <joint name="${robot_name}_joint5"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="${robot_name}_motor_5"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> @@ -68,10 +68,10 @@ <transmission name="${robot_name}_tran_6"> <type>transmission_interface/SimpleTransmission</type> <joint name="${robot_name}_joint6"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="${robot_name}_motor_6"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> @@ -79,10 +79,10 @@ <transmission name="${robot_name}_tran_7"> <type>transmission_interface/SimpleTransmission</type> <joint name="${robot_name}_joint7"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="${robot_name}_motor_7"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> @@ -91,10 +91,10 @@ <transmission name="${robot_name}_leftfinger"> <type>transmission_interface/SimpleTransmission</type> <joint name="${robot_name}_finger_joint1"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="${robot_name}_finger_joint1"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> @@ -102,10 +102,10 @@ <transmission name="${robot_name}_rightfinger"> <type>transmission_interface/SimpleTransmission</type> <joint name="${robot_name}_finger_joint2"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="${robot_name}_finger_joint2"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission>