Fix sot_params.yaml.

florent-lamiraux · florent-lamiraux · commit cd525f325a01 · 2021-06-24T08:52:30.000Z
diff --git a/config/sot_params.yaml b/config/sot_params.yaml
@@ -11,16 +11,22 @@ sot_controller:
   control_mode:
     shoulder_pan_joint:
       ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
     shoulder_lift_joint:
       ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
     elbow_joint:
       ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
     wrist_1_joint:
       ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
     wrist_2_joint:
       ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
     wrist_3_joint:
       ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
 
   dt: 0.01
   jitter: 0.004
