106 lines
3.3 KiB
YAML
106 lines
3.3 KiB
YAML
aliengoZ1_gazebo:
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# Publish all joint states -----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 1000
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# FL Controllers ---------------------------------------
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FL_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FL_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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FL_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FL_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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FL_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FL_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# FR Controllers ---------------------------------------
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FR_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FR_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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FR_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FR_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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FR_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FR_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# RL Controllers ---------------------------------------
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RL_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RL_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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RL_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RL_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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RL_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RL_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# RR Controllers ---------------------------------------
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RR_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RR_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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RR_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RR_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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RR_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RR_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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Joint01_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint1
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint02_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint2
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint03_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint3
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint04_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint4
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint05_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint5
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint06_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint6
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pid: {p: 300.0, i: 0.0, d: 5.0}
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gripper_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: jointGripper
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pid: {p: 300.0, i: 0.0, d: 5.0}
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