Merge branch 'master' of github.com:open-dynamic-robot-initiative/rob…

…ot_properties_solo
open-dynamic-robot-initiative · Jan 18, 2022 · 40ea1d7 · 40ea1d7
2 parents 05d1e36 + 6480f1d
commit 40ea1d7
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diff --git a/src/robot_properties_solo/resources/dynamic_graph_manager/dgm_parameters_solo12.yaml b/src/robot_properties_solo/resources/dynamic_graph_manager/dgm_parameters_solo12.yaml
@@ -48,6 +48,14 @@ device:
   controls:
     ctrl_joint_torques:
       size: 12
+    ctrl_joint_positions:
+      size: 12
+    ctrl_joint_velocities:
+      size: 12
+    ctrl_joint_position_gains:
+      size: 12
+    ctrl_joint_velocity_gains:
+      size: 12
     ctrl_heart_beat:
       size: 1
 

diff --git a/src/robot_properties_solo/resources/dynamic_graph_manager/dgm_parameters_solo12_mpi_is.yaml b/src/robot_properties_solo/resources/dynamic_graph_manager/dgm_parameters_solo12_mpi_is.yaml
@@ -45,6 +45,14 @@ device:
   controls:
     ctrl_joint_torques:
       size: 12
+    ctrl_joint_positions:
+      size: 12
+    ctrl_joint_velocities:
+      size: 12
+    ctrl_joint_position_gains:
+      size: 12
+    ctrl_joint_velocity_gains:
+      size: 12
     ctrl_heart_beat:
       size: 1
 hardware_communication:

diff --git a/src/robot_properties_solo/resources/dynamic_graph_manager/dgm_parameters_solo12_nyu.yaml b/src/robot_properties_solo/resources/dynamic_graph_manager/dgm_parameters_solo12_nyu.yaml
@@ -45,6 +45,14 @@ device:
   controls:
     ctrl_joint_torques:
       size: 12
+    ctrl_joint_positions:
+      size: 12
+    ctrl_joint_velocities:
+      size: 12
+    ctrl_joint_position_gains:
+      size: 12
+    ctrl_joint_velocity_gains:
+      size: 12
     ctrl_heart_beat:
       size: 1
 hardware_communication:

diff --git a/...roperties_solo/resources/dynamic_graph_manager/dgm_parameters_solo12_wireless_mpi_is.yaml b/...roperties_solo/resources/dynamic_graph_manager/dgm_parameters_solo12_wireless_mpi_is.yaml
@@ -45,6 +45,14 @@ device:
   controls:
     ctrl_joint_torques:
       size: 12
+    ctrl_joint_positions:
+      size: 12
+    ctrl_joint_velocities:
+      size: 12
+    ctrl_joint_position_gains:
+      size: 12
+    ctrl_joint_velocity_gains:
+      size: 12
     ctrl_heart_beat:
       size: 1
 hardware_communication: