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Simplify grasp controller

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This commit is contained in:
Michel Breyer
2021-05-26 21:54:54 +02:00
parent 062c541b56
commit 0545dbcc06
4 changed files with 114 additions and 138 deletions
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config/active_grasp.yaml
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@@ -1,5 +1,6 @@
active_grasp:
frame_id: task
length: 0.3
base_frame_id: panda_link0
ee_frame_id: panda_hand
ee_grasp_offset: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.065]