Define finger_joint2 as mimic joint of finger_joint1

Although, Gazebo doesn't support mimic joints natively, FrankaHWSim does and MoveIt - for planning - should know that the fingers will move in sync.
frankaemika · Nov 7, 2021 · 4ead405 · 4ead405
1 parent 8dc80d1
commit 4ead405
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/franka_description/robots/panda_gazebo.xacro b/franka_description/robots/panda_gazebo.xacro
@@ -351,6 +351,7 @@
       <origin xyz="0 0 0.0584" rpy="0 0 0"/>
       <axis xyz="0 -1 0"/>
       <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+      <mimic joint="${ns}_finger_joint1" />
       <dynamics damping="0.3"/>
     </joint>
   </xacro:macro>