Description

This is a simple mc_rtc controller for the JVRC1 robot that prints the PD gains of the joints inside the active_motors_ vector, using a datastore call.

The controller works as intended with mc_mujoco, however, with mc_openrtm and choreonoid, the same call doesn't work (the PDcontroller is deactivated).

Install and Usage

To Install:

$ cd jvrcpd
$ mkdir build && cd build
$ cmake ..
$ make install

To run, simply add the controller in the mc_rtc configuration file (Enabled: Jvrcpd), then run either:

1. mc_mujoco: The controller works properly.
2. cd $PREFIX/share/JVRC1, then ./clear-omninames.sh, and then choreonoid sim_mc.cnoid --start-simulation: The controller will run but will be deactivated without printing the gains, hence the bug.