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tiago_metapkg_ros_control_sot
Commits
4daefd9b
Commit
4daefd9b
authored
Jun 27, 2019
by
Joseph Mirabel
Committed by
olivier stasse
Aug 08, 2019
Browse files
Update sot_tiago_params.yaml
parent
44ac83ba
Changes
1
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roscontrol_sot_tiago/config/sot_tiago_params.yaml
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4daefd9b
sot_controller
:
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_finger_joint
,
head_1_joint
,
head_2_joint
]
joint_names
:
[
wheel_left_joint
,
wheel_right_joint
,
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_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
}
position_control_init_pos
:
-
name
:
torso_lift_joint
des_pos
:
0.0
-
name
:
arm_1_joint
des_pos
:
0.25847
-
name
:
arm_2_joint
des_pos
:
0.173046
-
name
:
arm_3_joint
des_pos
:
0.0002
-
name
:
arm_4_joint
des_pos
:
-0.525366
-
name
:
arm_5_joint
des_pos
:
0.0
-
name
:
arm_6_joint
des_pos
:
0.0
-
name
:
arm_7_joint
des_pos
:
0.1
-
name
:
gripper_finger_joint
des_pos
:
0.034
-
name
:
head_1_joint
des_pos
:
0.0
-
name
:
head_2_joint
des_pos
:
0.0
control_mode
:
POSITION
torques
:
torques
,
accelerometer_0
:
accelerometer_0
,
gyrometer_0
:
gyrometer_0
,
control
:
control
}
control_mode
:
wheel_left_joint
:
ros_control_mode
:
VELOCITY
wheel_right_joint
:
ros_control_mode
:
VELOCITY
torso_lift_joint
:
ros_control_mode
:
POSITION
arm_1_joint
:
ros_control_mode
:
POSITION
arm_2_joint
:
ros_control_mode
:
POSITION
arm_3_joint
:
ros_control_mode
:
POSITION
arm_4_joint
:
ros_control_mode
:
POSITION
arm_5_joint
:
ros_control_mode
:
POSITION
arm_6_joint
:
ros_control_mode
:
POSITION
arm_7_joint
:
ros_control_mode
:
POSITION
gripper_finger_joint
:
ros_control_mode
:
POSITION
head_1_joint
:
ros_control_mode
:
POSITION
head_2_joint
:
ros_control_mode
:
POSITION
dt
:
0.001
jitter
:
0.0004
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