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47 lines
1017 B
47 lines
1017 B
general:
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frequency: 300
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contact_flags: True
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simulation:
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kp : 30.0
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kd : 0.1
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yaw_kp: 0.4
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kinematic_scheme : "m"
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robot_height: 0.17
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cog_x_offset: 0
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cog_y_offset: 0.0
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cog_z_offset: 0.04
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ef_init_x: 0.149
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ef_init_y: 0.11
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stride_frequency: 2.5
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preview_horizon: 1.6
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hardware:
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# [abad, hip, knee]
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kp : [12, 11, 10]
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kd : [0.4, 0.35, 0.3]
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yaw_kp: 0.5
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kinematic_scheme : "m" #"o" #"x" #"m"
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robot_height: 0.19
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cog_x_offset: -0.02
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cog_y_offset: 0.0
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cog_z_offset: 0.0
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ef_init_x: 0.149
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ef_init_y: 0.10
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stride_frequency: 2.5
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preview_horizon: 1.6
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topics:
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ros_servo_cmd_ropic: "joint_cmd"
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lcm_servo_cmd_channel: "SERVO_CMD"
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lcm_servo_state_channel: "SERVO_STATE"
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ros_imu_topic: "imu/data"
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ros_cmd_vel_topic: "cmd_vel"
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ros_cmd_pose_topic: "cmd_pose"
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ros_cmd_ef_pose_topic: "ef_position/command"
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ros_cmd_joint_pos_topic: "joint_group_position_controller/command"
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ros_state_contact_flags_topic: "foot_contacts"
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ros_state_ef_pose_topic: "ef_position/states"
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