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Joint position controller in SDFormat

Hi,

I am simulating a quadruped in Gazebo 1.9 using the sdformat. Is there any way I can set PID values for each joints and have a topic/service where I can publish the desired joint positions?
I saw this can be done using tag in URDF but I wanted to use SDFormat if possible.

Thanks

Asked by kaus on 2014-11-28 17:54:39 UTC

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