diff --git a/README.md b/README.md index 981cc3c4ccadc0aa9d9de971be7f8ebcdfb4ab50..b528f268d5622172823ce4ae006e8dd45ea22484 100644 --- a/README.md +++ b/README.md @@ -22,7 +22,7 @@ To start the flexibilities: roslaunch talos_data talos_gazebo.launch enable_leg_passive:=true ``` -You should see in the robot model two new joints: +You should see in the robot model two new links: ``` leg_left_1_link_passive leg_right_1_link_passive @@ -57,9 +57,9 @@ You can create new joints by expanding the robot kinematic tree and adding the same lines in the xacro files. The spring constants are modified by the associated fields -*kp* and *kd* +*kp* and *kd*. The name of the joint to which this apply is specified by the field -*joint_spring* +*joint_spring*. The plugin is generating a torque based on the actuator state using: $$\tau = - kp q - kd \dot{q}$$ where $q$ is the actuator position and $\dot{q}$ @@ -67,7 +67,7 @@ is the actuator velocity. This might be changed in the future to cope with a different equilibrium point. -Finally to have the state of the joint you need to add the following lines: +Finally to have the state of the joint in the topic */joint_states* you need to add the following lines: ``` <transmission name="leg_${prefix}_1_passive_trans"> <type>transmission_interface/SimpleTransmission</type>