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35 lines
719 B
35 lines
719 B
general:
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frequency: 40
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topics:
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cmd_vel: "ds4/cmd_vel" #"ds4/cmd_vel"
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cmd_pose: "ds4/cmd_pose" #"ds4/cmd_pose"
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cmd_ef_pose: "ds4/ef_position/command" #"ds4/ef_position/command"
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cmd_joint_pos: "ds4/joint_group_position_controller/command" #"ds4/joint_group_position_controller/command"
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status: "ds4/status"
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gait:
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max_speed_x: 1.0
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max_speed_y: 0.2
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max_speed_z: 0.91
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stride_height: 0.07
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pose:
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max_angle_x: 0.33
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max_angle_y: 0.33
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max_angle_z: 0.33
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max_lin_x: 0.1
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max_lin_y: 0.1
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max_lin_z: 0.06
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min_lin_z: 0.11
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ef:
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max_pos_x: 0.05
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max_pos_y: 0.05
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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: 1.57
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max_knee: 1.57
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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 |