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27 lines
516 B
27 lines
516 B
2 months ago
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general:
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frequency: 40
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topics:
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cmd_vel: "radiolink/cmd_vel"
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cmd_pose: "radiolink/cmd_pose"
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cmd_ef_pose: "radiolink/ef_position/command"
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cmd_joint_pos: "radiolink/joint_group_position_controller/command"
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status: "radiolink/status"
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gait:
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max_speed_x: 0.8
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max_speed_y: 0.2
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max_speed_z: 0.85
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stride_height: 0.045
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pose:
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max_angle_x: 0.38
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max_angle_y: 0.25
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max_angle_z: 0.33
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max_lin_x: 0.06
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max_lin_y: 0.05
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max_lin_z: 0.05
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min_lin_z: 0.095
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modes:
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walk: 0
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ef: 1
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body: 2
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joint: 3
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