feat: add effort and position traj controllers to simulation

frankaemika · Feb 15, 2022 · e60cf08 · e60cf08
1 parent 72743d4
commit e60cf08
Showing 1 changed file with 20 additions and 0 deletions.
diff --git a/franka_gazebo/config/sim_controllers.yaml b/franka_gazebo/config/sim_controllers.yaml
@@ -66,3 +66,23 @@ effort_joint_trajectory_controller:
     $(arg arm_id)_joint5: { goal: 0.05 }
     $(arg arm_id)_joint6: { goal: 0.05 }
     $(arg arm_id)_joint7: { goal: 0.05 }
+
+position_joint_trajectory_controller:
+  type: position_controllers/JointTrajectoryController
+  joints:
+    - $(arg arm_id)_joint1
+    - $(arg arm_id)_joint2
+    - $(arg arm_id)_joint3
+    - $(arg arm_id)_joint4
+    - $(arg arm_id)_joint5
+    - $(arg arm_id)_joint6
+    - $(arg arm_id)_joint7
+  constraints:
+    goal_time: 0.5
+    $(arg arm_id)_joint1: { goal: 0.05}
+    $(arg arm_id)_joint2: { goal: 0.05}
+    $(arg arm_id)_joint3: { goal: 0.05}
+    $(arg arm_id)_joint4: { goal: 0.05}
+    $(arg arm_id)_joint5: { goal: 0.05}
+    $(arg arm_id)_joint6: { goal: 0.05}
+    $(arg arm_id)_joint7: { goal: 0.05}