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sot_talos_params_control_mode.yaml 2.54 KiB
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Olivier Stasse's avatar
Update params file to handle new structure of roscontrol_sot
Olivier Stasse committed
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sot_controller:
  control_mode:
    arm_left_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_left_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_left_3_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_left_4_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_left_5_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_left_6_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_left_7_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_right_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_right_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_right_3_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_right_4_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_right_5_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_right_6_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    arm_right_7_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    gripper_left_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
    gripper_right_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
    head_1_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
Guilhem Saurel's avatar
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Guilhem Saurel committed
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    head_2_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
Olivier Stasse's avatar
Update params file to handle new structure of roscontrol_sot
Olivier Stasse committed
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    leg_left_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_left_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_left_3_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_left_4_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_left_5_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_left_6_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_right_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_right_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_right_3_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_right_4_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_right_5_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    leg_right_6_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
    torso_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
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Guilhem Saurel committed
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    torso_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}