Joint position controller in SDFormat

asked 2014-11-28 16:54:39 -0500

kaus gravatar image


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 <transmission> tag in URDF but I wanted to use SDFormat if possible.


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