You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
49 lines
1.2 KiB
49 lines
1.2 KiB
general:
|
|
frequency: 300
|
|
contact_flags: True
|
|
|
|
simulation:
|
|
kp : [60.0, 60.0, 60.0]
|
|
kd : [0.3, 0.3, 0.3]
|
|
yaw_kp: 0.3
|
|
kinematic_scheme : "m"
|
|
robot_height: 0.215
|
|
cog_x_offset: -0.036
|
|
cog_y_offset: 0.0
|
|
cog_z_offset: 0.0
|
|
ef_init_x: 0.1655
|
|
ef_init_y: 0.11
|
|
stride_frequency: 3.0
|
|
preview_horizon: 0.5
|
|
|
|
hardware:
|
|
# [abad, hip, knee]
|
|
kp : [26, 26.0, 12.0]
|
|
kd : [0.4, 0.4, 0.3]
|
|
# kp : [0.6, 0.6, 0.6]
|
|
# kd : [0.3, 0.3, 0.3]
|
|
|
|
yaw_kp: 0.3
|
|
kinematic_scheme : "m" #"o" #"x" #"m"
|
|
robot_height: 0.215 #0.19 #0.19 #0.23
|
|
cog_x_offset: -0.036 #0.0 #-0.01 #-0.035
|
|
cog_y_offset: 0.0 #0.0 #0.0 #0.0
|
|
cog_z_offset: 0.0 #0.0 #0.0 #0.05
|
|
ef_init_x: 0.1655 #0.1655 #0.149 #0.149 #0.1655
|
|
ef_init_y: 0.11 #0.10 #0.10 #0.11
|
|
stride_frequency: 3.0
|
|
preview_horizon: 0.5
|
|
|
|
topics:
|
|
lcm_servo_cmd_channel: "SERVO_CMD"
|
|
lcm_servo_state_channel: "SERVO_STATE"
|
|
|
|
ros_imu_topic: "imu/data"
|
|
ros_cmd_vel_topic: "cmd_vel"
|
|
ros_cmd_pose_topic: "cmd_pose"
|
|
ros_cmd_ef_pose_topic: "ef_position/command"
|
|
ros_cmd_joint_pos_topic: "joint_group_position_controller/command"
|
|
|
|
ros_state_contact_flags_topic: "foot_contacts"
|
|
ros_state_ef_pose_topic: "ef_position/states"
|