Commit 2fde7d70 authored by Olivier Stasse's avatar Olivier Stasse

Force libsot-tiago-steel-controller.so name

Fix joint names of the robot.
parent 99b38851
sot_controller:
libname: libsot-tiago-controller.so
joint_names: [ torso_joint,
arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
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,
gripper_left_finger_joint, gripper_right_finger_joint,
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,
......
sot_controller:
libname: libsot-tiago-controller.so
joint_names: [ torso_joint,
arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
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,
gripper_left_finger_joint, gripper_right_finger_joint,
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,
......
sot_controller:
libname: libsot-tiago-controller.so
libname: libsot-tiago-steel-controller.so
simulation_mode: gazebo
joint_names: [ torso_joint,
arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
head_1_joint, head_2_joint ]
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, gripper_left_finger_joint,
gripper_right_finger_joint, 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 }
......@@ -24,9 +24,9 @@ sot_controller:
des_pos: 0.0
- name: arm_7_joint
des_pos: 0.1
- name: gripper_joint
- name: gripper_left_finger_joint
des_pos: -0.005
- name: gripper_joint
- name: gripper_right_finger_joint
des_pos: -0.005
- name: head_1_joint
des_pos: 0.0
......
sot_controller:
libname: libsot-tiago-controller.so
libname: libsot-tiago-steel-controller.so
simulation_mode: gazebo
joint_names: [ torso_1_joint,torso_2_joint,
arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
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,
gripper_left_finger_joint, gripper_right_finger_joint,
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,
......
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