Undo removal of gripper controller settings for simulation.

alliander-opensource · Sep 26, 2024 · 524a88e · 524a88e
1 parent 4be1ed0
commit 524a88e
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/rcdt_franka/config/simulation_controllers.yaml b/rcdt_franka/config/simulation_controllers.yaml
@@ -18,3 +18,14 @@ fr3_arm_controller:
       - fr3_joint5
       - fr3_joint6
       - fr3_joint7
+
+gripper_action_controller:
+  ros__parameters:
+    type: position_controllers/GripperActionController
+    action_monitor_rate: 20.0
+    allow_stalling: false
+    goal_tolerance: 0.01
+    joint: "fr3_finger_joint1"
+    max_effort: 0.0
+    stall_timeout: 1.0
+    stall_velocity_threshold: 0.001