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38 lines
700 B
38 lines
700 B
general:
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frequency: 40
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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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cur_device: "cur_device"
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joint_state: "joint_state"
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imu_data: "imu/data"
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temperature_data: "imu/temp"
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gait:
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max_speed_x: 0.3
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max_speed_y: 0.2
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max_speed_z: 0.8
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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: 0.1
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min_lin_z: 0.15
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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 |