Added gripper

[wt_open_manipulator.git] / config / control.yaml

diff --git a/config/control.yaml b/config/control.yaml
index 4aeee8cb313c9eebf608f9e20ad5c7c808905b3a..75e7d3b95e13caf4abca853f2d77e39b102099b0 100644 (file)
--- a/config/control.yaml
+++ b/config/control.yaml
@@ -9,3 +9,9 @@ arm_controller:
     - joint2
     - joint3
     - joint4
+  constraints:
+    goal_time: 0.3
+
+gripper_controller:
+  type: "position_controllers/GripperActionController"
+  joint: gripper