Commit 7c96f667 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Fix gazebo simulation

parent 4c5f0495
......@@ -3,9 +3,9 @@ sot_controller:
simulation_mode: gazebo
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,
......@@ -50,7 +50,7 @@ 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
......@@ -66,7 +66,7 @@ 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
......@@ -77,4 +77,4 @@ sot_controller:
des_pos:: 0.0
control_mode: POSITION
dt: 0.001
jitter: 0.0004
\ No newline at end of file
jitter: 0.0004
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