I am a new to ROS and I had a chance to look into the packages for NAO from the user @ijnek in github.

I was trying to publish joint positions and joint stifness in a way that I could maybe make the robot walk. However, I am unsuccessful as my robot keeps falling. I am targeting the joint indexes 10,11,15,16.

I would like to know if this possible, If so, I would like to know how I could do the same.