Example Model File Sample Clauses

Example Model File. ‌ The SMH file example_modes.yaml specifies an actuation system consisting of the drive_base node and the manipulator node, system modes for the actuation system, as well as system modes for the two nodes: * The manipulator node has a default mode, a STRONG mode, and a WEAK mode, configuring different values for its max_torque. * The drive_base node has a default mode, a FAST mode, and a SLOW mode, configuring different values for its max_speed and its controller (PID or MPC). * The actuation system comprises of these two nodes. It has a default mode, a PERFORMANCE mode, and a MODERATE mode, changing the modes of its two nodes accordingly.