Fixes hand real/gazebo discrepacy #155
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This commit makes sure that the hand joint control behavoir between the real and simulated robot is equal. Previously the 'franka_finger_joint2' mimics the 'franka_finger_joint1' in the real robot but not in the simulation.
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This appears to break the panda_moveit_config package. I will investigate if this change can be applied while using MoveIt. |
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gollth
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Nov 23, 2021
* commit 'b7a8cb1bcbca55fedbca0d215ce304f30cd9cb7b': increase grasp counter to fix going into holding state at low speeds CHANGE: Refactor finger collision models to macro ADD: Changelog entry FIX: Tune parameter for fingers to grasp successful in franka_gazebo FIX: Also apply forces in correct direction for "opening" grasps CHANGE: Finger collision meshes to primitive boxes FIX: Add slight offset between fingers in initial positions
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This commit makes sure that the hand joint control behaviour between the real and simulated robot is equal. Previously the 'franka_finger_joint2' mimics the 'franka_finger_joint1' in the real robot but not in the simulation.
I think having the same behaviour in both the simulation and on the real robot makes sense since it otherwise might causes errors in third party packages controlling the robot.