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Xiaoyu27 authoredUnverified9f0d06d1
simple_moveit_controllers.yaml 525 B
controller_list:
- name: $(arg transmission)_joint_trajectory_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
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
- name: franka_gripper
action_ns: gripper_action
type: GripperCommand
default: True
joints:
- $(arg arm_id)_finger_joint1