sot_tiago_params_effort.yaml 567 Bytes
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sot_controller:
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  libname: libsot-tiago-steel-controller.so
  joint_names: [ torso_lift_joint,
    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint,
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    gripper_finger_joint,
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    head_1_joint, head_2_joint ]
  map_rc_to_sot_device: { motor-angles: motor-angles ,
  joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
  torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
  control_mode: EFFORT
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  dt: 0.01
  jitter: 0.004