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Olivier Stasse
committed
sot_controller:
libname: libsot-pyrene-controller.so
joint_names: [ leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint,
leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
torso_1_joint,torso_2_joint,
arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_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 }
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effort_control_pd_motor_init:
- name: leg_left_1_joint
p_gain: 100.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_2_joint
p_gain: 120.0
d_gain: 0.0
des_pos: 0.0
- name: leg_left_3_joint
p_gain: 100.0
d_gain: 0.0
des_pos: -0.411354
- name: leg_left_4_joint
p_gain: 130.0
d_gain: 0.0
des_pos: 0.859395
- name: leg_left_5_joint
p_gain: 75.0
d_gain: 0.0
des_pos: -0.448041
- name: leg_left_6_joint
p_gain: 75.0
d_gain: 0.0
des_pos: -0.001708
- name: leg_right_1_joint
p_gain: 100.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_2_joint
p_gain: 120.0
d_gain: 0.0
des_pos: 0.0
- name: leg_right_3_joint
p_gain: 100.0
d_gain: 0.0
des_pos: -0.411354
- name: leg_right_4_joint
p_gain: 130.0
d_gain: 0.0
des_pos: 0.859395
- name: leg_right_5_joint
p_gain: 75.0
d_gain: 0.0
des_pos: -0.448041
- name: leg_right_6_joint
p_gain: 75.0
d_gain: 0.0
des_pos: -0.001708
- name: torso_1_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.0
- name: torso_2_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.006761
- name: arm_left_1_joint
p_gain: 20.0
d_gain: 0.0
des_pos: 0.25847
- name: arm_left_2_joint
p_gain: 100.0
d_gain: 0.0
des_pos: 0.173046
- name: arm_left_3_joint
p_gain: 50.0
d_gain: 0.0
des_pos: 0.0002
- name: arm_left_4_joint
p_gain: 50.0
d_gain: 0.0
des_pos: -0.525366
- name: arm_left_5_joint
p_gain: 50.0
d_gain: 0.0
des_pos: 0.0
- name: arm_left_6_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.1
- name: arm_left_7_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.1
- name: gripper_left_joint
p_gain: 0.002
d_gain: 0.0
des_pos: -0.005
- name: arm_right_1_joint
p_gain: 20.0
d_gain: 0.0
des_pos: -0.25847
- name: arm_right_2_joint
p_gain: 100.0
d_gain: 0.0
des_pos: -0.173046
- name: arm_right_3_joint
p_gain: 50.0
d_gain: 0.0
des_pos: 0.0002
- name: arm_right_4_joint
p_gain: 50.0
d_gain: 0.0
des_pos: -0.525366
- name: arm_right_5_joint
p_gain: 50.0
d_gain: 0.0
des_pos: 0.0
- name: arm_right_6_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.1
- name: arm_right_7_joint
p_gain: 30.0
d_gain: 0.0
des_pos: 0.1
- name: gripper_right_joint
p_gain: 0.002
d_gain: 0.0
des_pos: -0.005
- name: head_1_joint
p_gain: 1.0
d_gain: 0.0
des_pos:: 0.0
- name: head_2_joint
p_gain: 1.0
d_gain: 0.0
des_pos:: 0.0
control_mode: EFFORT