#!/bin/sh
CONTROLLER_BRIDGE_DIR=$OPENHRPHOME/bin

$CONTROLLER_BRIDGE_DIR/openhrp-controller-bridge \
--server-name MotorControlFactory \
--module MotorControl.so \
--out-port angle:JOINT_VALUE \
--out-port position:BODY:ABS_TRANSFORM \
--in-port torque:JOINT_TORQUE \
--connection angle:InCurrentWheelAngle \
--connection position:InSimulatedPosition \
--connection torque:Torque \
--robot-name RefHw
