Rune Harlyk
34 lines
1.4 KiB
YAML
34 lines
1.4 KiB
YAML
spot:
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joint_states_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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joint_group_position_controller:
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type: effort_controllers/JointTrajectoryController
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joints:
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- motor_front_left_hip
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- motor_front_left_upper_leg
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- motor_front_left_lower_leg
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- motor_front_right_hip
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- motor_front_right_upper_leg
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- motor_front_right_lower_leg
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- motor_back_left_hip
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- motor_back_left_upper_leg
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- motor_back_left_lower_leg
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- motor_back_right_hip
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- motor_back_right_upper_leg
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- motor_back_right_lower_leg
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gains:
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motor_front_left_hip : {p: 180, d: 0.9, i: 20}
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motor_front_left_upper_leg : {p: 180, d: 0.9, i: 20}
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motor_front_left_lower_leg : {p: 180, d: 0.9, i: 20}
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motor_front_right_hip : {p: 180, d: 0.9, i: 20}
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motor_front_right_upper_leg : {p: 180, d: 0.9, i: 20}
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motor_front_right_lower_leg : {p: 180, d: 0.9, i: 20}
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motor_back_left_hip : {p: 180, d: 0.9, i: 20}
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motor_back_left_upper_leg : {p: 180, d: 0.9, i: 20}
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motor_back_left_lower_leg : {p: 180, d: 0.9, i: 20}
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motor_back_right_hip : {p: 180, d: 0.9, i: 20}
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motor_back_right_upper_leg : {p: 180, d: 0.9, i: 20}
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motor_back_right_lower_leg : {p: 180, d: 0.9, i: 20} |