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58 lines
1.5 KiB
58 lines
1.5 KiB
2 months ago
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frequency: 300
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urdf_root: "./urdf"
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world: "empty" #"gazebo_racetrack_day" #
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render: True
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on_rack: False
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foot_contacts: True
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camera: False
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pointcloud_enabled: False
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camera_frame: "camera_frame"
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camera_freq: 10
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pixel_width: 100
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pixel_height: 100
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camera_rgb_topic: "camera/rgb/image_raw"
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camera_rgb_info_topic: "camera/rgb/camera_info"
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camera_depth_image_topic: "camera/depth/image_raw"
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camera_depth_points_topic: "camera/depth/points"
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camera_depth_info_topic: "camera/depth/camera_info"
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# pointcloud_topic: "pointcloud/points"
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lidar: True
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lidar_render: False
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lidar_freq: 10
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lidar_angle_min: -3.14 #-2.2689
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lidar_angle_max: 3.14 #2.2689
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# lidar_angle_increment: -0.00436752
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lidar_time_increment: 0
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lidar_point_num: 760
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lidar_range_min: 0.15
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lidar_range_max: 12.0
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lidar_frame: "scan_frame"
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lidar_topic: "scan"
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lateral_friction: 1.0
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spinning_friction: 0.0065
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accurate_motor_model_enabled: False
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simple_motor_model_enabled: False
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torque_control_enabled: False
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external_disturbance: False
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external_disturbance_value: 4000 # newtons
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external_disturbance_duration: 0.02 # seconds
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external_disturbance_interval: 2 # seconds
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ros_whole_body_state: False
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ros_whole_body_state_topic: "wb_state"
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ros_imu_topic: "imu/data"
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ros_joint_states_topic: "joint_states"
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ros_contact_flags_topic: "foot_contacts"
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ros_robot_odom_topic: "robot_odom"
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lcm_servo_cmd_channel: "SERVO_CMD"
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lcm_servo_state_channel: "SERVO_STATE"
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joint_dir: [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
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joint_offset: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
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