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Fixes franka_gripper_sim GripperCommand action
This commit makes sure that users can also send gripper widths between 0.0 and 0.08. In the old version the gripper would only open and close based on whether the set gripper width was smaller or bigger than the current width.
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Original file line number | Diff line number | Diff line change |
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@@ -1,12 +1,12 @@ | ||
arm_id: $(arg arm_id) | ||
|
||
m_ee: 0.76 | ||
m_ee: 0.76 | ||
franka_gripper: | ||
type: franka_gazebo/FrankaGripperSim | ||
arm_id: $(arg arm_id) | ||
type: franka_gazebo/FrankaGripperSim | ||
arm_id: $(arg arm_id) | ||
|
||
finger1: | ||
gains: { p: 100, i: 25, d: 20 } | ||
gains: { p: 1000, i: 0, d: 0 } | ||
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||
finger2: | ||
gains: { p: 100, i: 25, d: 20 } | ||
gains: { p: 1000, i: 0, d: 0 } |
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