Commit 4daefd9b authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse

Update sot_tiago_params.yaml

parent 44ac83ba
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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