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🦴 Adds Simulator from OpenQuadruped/spot_mini_mini

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This commit is contained in:
Rune Harlyk
2024-03-04 15:55:45 +01:00
parent e673a50fa2
commit 1753e539db
162 changed files with 11940 additions and 1 deletions
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mock/simulator/mini_ros/config/control.yaml
+34
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spot:
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- motor_front_left_hip
- motor_front_left_upper_leg
- motor_front_left_lower_leg
- motor_front_right_hip
- motor_front_right_upper_leg
- motor_front_right_lower_leg
- motor_back_left_hip
- motor_back_left_upper_leg
- motor_back_left_lower_leg
- motor_back_right_hip
- motor_back_right_upper_leg
- motor_back_right_lower_leg
gains:
motor_front_left_hip : {p: 180, d: 0.9, i: 20}
motor_front_left_upper_leg : {p: 180, d: 0.9, i: 20}
motor_front_left_lower_leg : {p: 180, d: 0.9, i: 20}
motor_front_right_hip : {p: 180, d: 0.9, i: 20}
motor_front_right_upper_leg : {p: 180, d: 0.9, i: 20}
motor_front_right_lower_leg : {p: 180, d: 0.9, i: 20}
motor_back_left_hip : {p: 180, d: 0.9, i: 20}
motor_back_left_upper_leg : {p: 180, d: 0.9, i: 20}
motor_back_left_lower_leg : {p: 180, d: 0.9, i: 20}
motor_back_right_hip : {p: 180, d: 0.9, i: 20}
motor_back_right_upper_leg : {p: 180, d: 0.9, i: 20}
motor_back_right_lower_leg : {p: 180, d: 0.9, i: 20}