gripper trans updated for gazebo

rigbetellabs · May 21, 2023 · 890cda2 · 890cda2
1 parent 61e8779
commit 890cda2
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/gripper_descriptions/two_finger_gripper_description/urdf/two_finger_gripper.trans b/gripper_descriptions/two_finger_gripper_description/urdf/two_finger_gripper.trans
@@ -4,32 +4,32 @@
 <transmission name="gripper_joint_tran">
   <type>transmission_interface/SimpleTransmission</type>
   <joint name="gripper_joint">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="gripper_joint_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
     <mechanicalReduction>1</mechanicalReduction>
   </actuator>
 </transmission>
 
 <transmission name="right_gripper_joint_tran">
   <type>transmission_interface/SimpleTransmission</type>
   <joint name="right_gripper_joint">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="right_gripper_joint_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
     <mechanicalReduction>1</mechanicalReduction>
   </actuator>
 </transmission>
 
 <transmission name="left_gripper_joint_tran">
   <type>transmission_interface/SimpleTransmission</type>
   <joint name="left_gripper_joint">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="left_gripper_joint_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
     <mechanicalReduction>1</mechanicalReduction>
   </actuator>
 </transmission>

diff --git a/gripper_descriptions/vacuum_gripper_description/urdf/vacuum_gripper.trans b/gripper_descriptions/vacuum_gripper_description/urdf/vacuum_gripper.trans
@@ -4,10 +4,10 @@
 <transmission name="gripper_joint_tran">
   <type>transmission_interface/SimpleTransmission</type>
   <joint name="gripper_joint">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="gripper_joint_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
     <mechanicalReduction>1</mechanicalReduction>
   </actuator>
 </transmission>