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talos-metapkg-ros-control-sot
Commits
72718b52
Commit
72718b52
authored
May 15, 2018
by
Olivier Stasse
Browse files
VERY IMPORTANT ! GOOD MAPPING FOR THE SOT ON PYRENE ! DO NOT CHANGE !
parent
e28973e9
Changes
1
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roscontrol_sot_talos/config/sot_talos_params.yaml
View file @
72718b52
...
...
@@ -2,9 +2,9 @@ sot_controller:
libname
:
libsot-pyrene-controller.so
joint_names
:
[
leg_left_1_joint
,
leg_left_2_joint
,
leg_left_3_joint
,
leg_left_4_joint
,
leg_left_5_joint
,
leg_left_6_joint
,
leg_right_1_joint
,
leg_right_2_joint
,
leg_right_3_joint
,
leg_right_4_joint
,
leg_right_5_joint
,
leg_right_6_joint
,
torso_1_joint
,
torso_2_joint
,
head_1_joint
,
head_2_joint
,
torso_1_joint
,
torso_2_joint
,
arm_left_1_joint
,
arm_left_2_joint
,
arm_left_3_joint
,
arm_left_4_joint
,
arm_left_5_joint
,
arm_left_6_joint
,
arm_left_7_joint
,
gripper_left_joint
,
arm_right_1_joint
,
arm_right_2_joint
,
arm_right_3_joint
,
arm_right_4_joint
,
arm_right_5_joint
,
arm_right_6_joint
,
arm_right_7_joint
,
gripper_right_joint
arm_right_1_joint
,
arm_right_2_joint
,
arm_right_3_joint
,
arm_right_4_joint
,
arm_right_5_joint
,
arm_right_6_joint
,
arm_right_7_joint
,
gripper_right_joint
,
head_1_joint
,
head_2_joint
]
map_rc_to_sot_device
:
{
motor-angles
:
motor-angles
,
joint-angles
:
joint-angles
,
velocities
:
velocities
,
...
...
@@ -49,7 +49,7 @@ sot_controller:
-
name
:
arm_left_5_joint
des_pos
:
0.0
-
name
:
arm_left_6_joint
des_pos
:
0.
1
des_pos
:
0.
0
-
name
:
arm_left_7_joint
des_pos
:
0.1
-
name
:
gripper_left_joint
...
...
@@ -65,7 +65,7 @@ sot_controller:
-
name
:
arm_right_5_joint
des_pos
:
0.0
-
name
:
arm_right_6_joint
des_pos
:
0.
1
des_pos
:
0.
0
-
name
:
arm_right_7_joint
des_pos
:
0.1
-
name
:
gripper_right_joint
...
...
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