2024-09-10 22:30:30 +08:00
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unitree_guide_controller:
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ros__parameters:
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type: unitree_guide_controller/UnitreeGuideController
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2024-09-11 20:41:12 +08:00
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update_rate: 200 # Hz
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2024-09-10 22:30:30 +08:00
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joints:
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- FR_hip_joint
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- FR_thigh_joint
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- FR_calf_joint
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- FL_hip_joint
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- FL_thigh_joint
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- FL_calf_joint
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- RR_hip_joint
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- RR_thigh_joint
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- RR_calf_joint
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- RL_hip_joint
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- RL_thigh_joint
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- RL_calf_joint
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command_interfaces:
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- effort
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- position
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- velocity
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- kp
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- kd
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state_interfaces:
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- effort
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- position
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- velocity
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