Commit 72718b52 authored by Olivier Stasse's avatar Olivier Stasse

VERY IMPORTANT ! GOOD MAPPING FOR THE SOT ON PYRENE ! DO NOT CHANGE !

parent e28973e9
......@@ -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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