cyberdog_gazebo:
    # Publish all joint states -----------------------------------
    joint_state_controller:
        type: joint_state_controller/JointStateController
        publish_rate: 1000  

    # FL Controllers ---------------------------------------
    FL_hip_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: FL_hip_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    FL_thigh_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: FL_thigh_joint
        pid: {p: 300.0, i: 0.0, d: 8.0}

    FL_calf_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: FL_calf_joint
        pid: {p: 300.0, i: 0.0, d: 8.0}

    # FR Controllers ---------------------------------------
    FR_hip_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: FR_hip_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    FR_thigh_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: FR_thigh_joint
        pid: {p: 300.0, i: 0.0, d: 8.0}

    FR_calf_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: FR_calf_joint
        pid: {p: 300.0, i: 0.0, d: 8.0}

    # RL Controllers ---------------------------------------
    RL_hip_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: RL_hip_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    RL_thigh_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: RL_thigh_joint
        pid: {p: 300.0, i: 0.0, d: 8.0}

    RL_calf_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: RL_calf_joint
        pid: {p: 300.0, i: 0.0, d: 8.0}

    # RR Controllers ---------------------------------------
    RR_hip_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: RR_hip_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    RR_thigh_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: RR_thigh_joint
        pid: {p: 300.0, i: 0.0, d: 8.0}

    RR_calf_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: RR_calf_joint
        pid: {p: 300.0, i: 0.0, d: 8.0}

