EmbodiedAI
/
unitree_ros
mirror of https://github.com/unitreerobotics/unitree_ros.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

gazebo pid

This commit is contained in:
caseypen 2024-01-19 13:36:51 +08:00
parent 74339c0ea8
commit 0b7759da3a
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
robots/z1_description/config/robot_control.yaml
View File

@ -2,39 +2,39 @@ z1_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
publish_rate: 200
Joint01_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint1
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint02_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint2
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint03_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint3
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint04_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint4
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint05_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint5
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint06_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint6
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
gripper_controller:
type: unitree_legged_control/UnitreeJointController
joint: jointGripper
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}