unitree_ros/robots/g1_description/config/robot_control.yaml

g1_gazebo:
    # Publish all joint states -----------------------------------
    joint_state_controller:
        type: joint_state_controller/JointStateController
        publish_rate: 1000  

    torso_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: torso_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    # left leg Controllers ---------------------------------------
    left_hip_pitch_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_hip_pitch_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    left_hip_roll_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_hip_roll_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    left_hip_yaw_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_hip_yaw_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    left_knee_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_knee_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    left_ankle_pitch_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_ankle_pitch_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    left_ankle_roll_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_ankle_roll_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    # right leg Controllers ---------------------------------------
    right_hip_pitch_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_hip_pitch_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    right_hip_roll_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_hip_roll_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    right_hip_yaw_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_hip_yaw_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    right_knee_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_knee_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    right_ankle_pitch_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_ankle_pitch_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    right_ankle_roll_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_ankle_roll_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}


    # left arm Controllers ---------------------------------------
    left_shoulder_pitch_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_shoulder_pitch_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    left_shoulder_roll_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_shoulder_roll_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    left_shoulder_yaw_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_shoulder_yaw_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    left_elbow_pitch_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_elbow_pitch_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    left_elbow_roll_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: left_elbow_roll_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    # right arm Controllers ---------------------------------------
    right_shoulder_pitch_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_shoulder_pitch_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    right_shoulder_roll_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_shoulder_roll_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    right_shoulder_yaw_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_shoulder_yaw_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    right_elbow_pitch_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_elbow_pitch_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}

    right_elbow_roll_controller:
        type: unitree_legged_control/UnitreeJointController
        joint: right_elbow_roll_joint
        pid: {p: 100.0, i: 0.0, d: 5.0}