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talos-metapkg-ros-control-sot
Commits
7c96f667
Commit
7c96f667
authored
Jun 05, 2018
by
Joseph Mirabel
Committed by
Joseph Mirabel
Jun 05, 2018
Browse files
Fix gazebo simulation
parent
4c5f0495
Changes
1
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roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
View file @
7c96f667
...
...
@@ -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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