Skip to content
Snippets Groups Projects
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