From b9edd83969e2fe34dce100b8442151fd007b90c6 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Mon, 31 Oct 2016 11:50:04 +0100
Subject: [PATCH] Added joint torque control
---
.../config/tb_torque_control.yaml | 32 +++++++++++++++++++
1 file changed, 32 insertions(+)
create mode 100644 talos_controller_configuration/config/tb_torque_control.yaml
diff --git a/talos_controller_configuration/config/tb_torque_control.yaml b/talos_controller_configuration/config/tb_torque_control.yaml
new file mode 100644
index 0000000..274b091
--- /dev/null
+++ b/talos_controller_configuration/config/tb_torque_control.yaml
@@ -0,0 +1,32 @@
+leg_right_4_joint_force_control:
+ type: "ModuleTestbenchTorqueControl"
+
+ dt: 0.001
+
+ joints:
+ - leg_left_6_joint
+
+ gains:
+ leg_left_6_joint: {p: 0.0, d: 0.0, i: 0.0, i_clamp: 0.0, torque_clamp: 0.0}
+
+leg_right_6_joint_force_control:
+ type: "ModuleTestbenchTorqueControl"
+
+ dt: 0.001
+
+ joints:
+ - leg_left_6_joint
+
+ gains:
+ leg_left_6_joint: {p: 0.0, d: 0.0, i: 0.0, i_clamp: 0.0, torque_clamp: 0.0}
+
+leg_right_5_joint_force_control:
+ type: "ModuleTestbenchTorqueControl"
+
+ dt: 0.001
+
+ joints:
+ - leg_left_5_joint
+
+ gains:
+ leg_left_5_joint: {p: 0.0, d: 0.0, i: 0.0, i_clamp: 0.0, torque_clamp: 0.0}
--
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