Expose transmission argument in franka_gazebo/panda.launch

frankaemika · Oct 28, 2021 · 1b12b6d · 1b12b6d
1 parent 093b7dd
commit 1b12b6d
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
@@ -11,6 +11,7 @@
   <!-- Robot Customization -->
   <arg name="arm_id"      default="panda" doc="Name of the panda robot to spawn" />
   <arg name="use_gripper" default="true"  doc="Should a franka hand be mounted on the flange?" />
+  <arg name="transmission" default="effort" doc="Transmission type used for arm joints. One of position, velocity, effort." />
   <arg name="controller"  default=" "     doc="Which example controller should be started? (One of {cartesian_impedance,model,force}_example_controller)" />
   <arg name="x"           default="0"     doc="How far forward to place the base of the robot in [m]?" />
   <arg name="y"           default="0"     doc="How far leftwards to place the base of the robot in [m]?" />
@@ -41,6 +42,7 @@
            command="xacro $(find franka_description)/robots/panda_arm.urdf.xacro
                     gazebo:=true
                     hand:=$(arg use_gripper)
+                    transmission:=$(arg transmission)
                     arm_id:=$(arg arm_id)
                     xyz:='$(arg x) $(arg y) $(arg z)'
                     rpy:='$(arg roll) $(arg pitch) $(arg yaw)'">