general: frequency: 40 topics: cmd_vel: "ds4/cmd_vel" #"ds4/cmd_vel" cmd_pose: "ds4/cmd_pose" #"ds4/cmd_pose" cmd_ef_pose: "ds4/ef_position/command" #"ds4/ef_position/command" cmd_joint_pos: "ds4/joint_group_position_controller/command" #"ds4/joint_group_position_controller/command" status: "ds4/status" gait: max_speed_x: 1.0 max_speed_y: 0.2 max_speed_z: 0.91 stride_height: 0.07 pose: max_angle_x: 0.33 max_angle_y: 0.33 max_angle_z: 0.33 max_lin_x: 0.1 max_lin_y: 0.1 max_lin_z: 0.06 min_lin_z: 0.11 ef: max_pos_x: 0.05 max_pos_y: 0.05 max_pos_z: 0.05 min_pos_z: 0.05 joints: max_abad: 1.57 max_hip: 1.57 max_knee: 1.57 modes: walk: 0 ef: 1 body: 2 joint: 3