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config.yaml
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actuators:
leg_1_r:
bus: 1
id: 1
type: GIM8115_9
zero_offset_deg: -80
wheel_r:
bus: 1
id: 2
type: GIM6010_6
zero_offset_deg: 0
leg_1_l:
bus: 2
id: 3
type: GIM8115_9
zero_offset_deg: 80
wheel_l:
bus: 2
id: 4
type: GIM6010_6
zero_offset_deg: 0
# Input
deadzone: 0.0
# Commander
x_vel_limit_mps: 1.0
x_acc_limit_mps2: 500.0
yaw_vel_limit_rps: 4.0
yaw_acc_limit_mps2: 800.0
sitting_leg_length_m: 0.07814
standing_leg_length_m: 0.3182
stand_up_duration_s: 0.5
sit_down_duration_s: 0.5
# Controller
k_x: 10.0
k_pitch: 40.0
k_x_vel: 5.0
k_pitch_vel: 15.0
leg_kp: 50.0
leg_kd: 5.0
yaw_kp: 0.0
yaw_kd: 1.0
roll_kp: 0.0
roll_kd: 0.0
leg_link_m: 0.225
wheel_diam_m: 0.2
wheelbase_m: 0.281
friction_coeff: 1.0
# State estimator
contact_threshold_n: 5.0
default_com_x: -0.05
# Main loop
# loop_rate_hz: 200
loop_rate_hz: 400