Moves franka_gazebo grasp action parameters #6
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This commit makes sure that users can also send gripper widths between 0.0 and 0.08. In the old version the gripper would only open and close based on whether the set gripper width was smaller or bigger than the current width.
This commit improves the gripper PID gains since the old gains caused the gripper to oscillate around a given setpoint (see frankaemika#172).
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base ns This commit mose the `resting_threshold` and `consecutive_samples` to the base ns since they also apply to the `gripper_action` action server (see frankaemika#172).
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This pull request moves the
resting_thresholdandconsecutive_samplesgrasp parameters on the base ns. This was done since they also affect thegripper_commandaction (see frankaemika#172). Before this is merged, the documentation also needs to be modified, see frankaemika/docs#13.