From 72718b522b44c4d79a06d46b68301fe5275b8c88 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Tue, 15 May 2018 18:48:50 +0200
Subject: [PATCH] VERY IMPORTANT ! GOOD MAPPING FOR THE SOT ON PYRENE ! DO NOT
CHANGE !
---
roscontrol_sot_talos/config/sot_talos_params.yaml | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/roscontrol_sot_talos/config/sot_talos_params.yaml b/roscontrol_sot_talos/config/sot_talos_params.yaml
index 16e8aa7..32b2741 100644
--- a/roscontrol_sot_talos/config/sot_talos_params.yaml
+++ b/roscontrol_sot_talos/config/sot_talos_params.yaml
@@ -2,9 +2,9 @@ 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,head_1_joint, head_2_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
+ 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,
@@ -49,7 +49,7 @@ sot_controller:
- name: arm_left_5_joint
des_pos: 0.0
- name: arm_left_6_joint
- des_pos: 0.1
+ des_pos: 0.0
- name: arm_left_7_joint
des_pos: 0.1
- name: gripper_left_joint
@@ -65,7 +65,7 @@ sot_controller:
- name: arm_right_5_joint
des_pos: 0.0
- name: arm_right_6_joint
- des_pos: 0.1
+ des_pos: 0.0
- name: arm_right_7_joint
des_pos: 0.1
- name: gripper_right_joint
--
GitLab