Commit c63cdcdf authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse

Fix geometric simu.

parent 1d1bab5a
......@@ -4,7 +4,7 @@
<launch>
<!-- Which robot are we controlling ? -->
<arg name="robot" default="tiago" />
<arg name="libsot" default="libsot-tiago-controller.so" />
<arg name="libsot" default="libsot-tiago-steel-controller.so" />
<arg name="sot-launch-prefix" default="" />
......
......@@ -4,13 +4,13 @@
<launch>
<!-- Which robot are we controlling ? -->
<arg name="robot" default="tiago" />
<arg name="libsot" default="libsot-tiago-controller.so" />
<arg name="libsot" default="libsot-tiago-steel-controller.so" />
<!-- BTW we are in simulation ? -->
<!-- Load robot model. -->
<param name="robot_description"
textfile="$(find tiago_data)/urdf/tiago_reduced.urdf" />
textfile="$(find tiago_data)/robots/tiago_steel.urdf" />
<!-- Load robot sot params. -->
......
sot:
state_vector_map: [ 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,
state_vector_map: [ 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]
sot_controller:
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,
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
]
dt: 0.001
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