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50 lines
993 B
50 lines
993 B
2 months ago
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general:
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frequency: 40
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cmd_topics:
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cmd_vel: "gui/cmd_vel"
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cmd_pose: "gui/cmd_pose"
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cmd_ef_pose: "gui/ef_position/command"
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cmd_joint_pos: "gui/joint_group_position_controller/command"
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status: "gui/status"
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state_topics:
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cur_device: "cur_device"
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joint_state: "joint_states"
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imu_data: "imu/data"
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temperature_data: "imu/temp"
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cmd_vel: "cmd_vel"
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cmd_pose: "cmd_pose"
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cmd_ef_pose: "ef_position/command"
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cmd_joint_pos: "joint_group_position_controller/command"
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ef_pose : "ef_position/states"
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ll_cmd_joint_pos: "lcm/servo_cmd"
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gait:
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max_speed_x: 0.5
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max_speed_y: 0.2
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max_speed_z: 0.9
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pose:
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max_angle_x: 0.33
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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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ef:
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max_pos_x: 0.13
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max_pos_y: 0.04
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max_pos_z: 0.05
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min_pos_z: 0.05
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joints:
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max_abad: 1.57
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max_hip: 3.0
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max_knee: 3.57
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max_vel: 5.0
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max_torq: 5.0
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max_kp: 24.0
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max_kd: 1.0
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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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