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sample_gazebo.cfg
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sample_gazebo.cfg
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[servo]
type = 1
port = /dev/ttyUSB0
count = 12
model = legtool
[servo.poses]
idle = 0=0.00,1=0.00,2=90.00,3=0.00,4=0.00,5=90.00,6=0.00,7=0.00,8=90.00,9=0.00,10=0.00,11=90.00,12=0.00,13=0.00
min = 0=-45.00,1=-90.00,2=-90.00,3=-100.00,4=-90.00,5=-90.00,6=-45.00,7=-90.00,8=-90.00,9=-100.00,10=-90.00,11=-90.00,12=-27.00,13=-6.00
max = 0=100.00,1=100.00,2=110.00,3=45.00,4=100.00,5=110.00,6=100.00,7=100.00,8=110.00,9=45.00,10=100.00,11=110.00,12=6.00,13=-6.00
[servo.names]
0 = coxa_hinge0
1 = femur_hinge0
2 = tibia_hinge0
3 = coxa_hinge1
4 = femur_hinge1
5 = tibia_hinge1
6 = coxa_hinge2
7 = femur_hinge2
8 = tibia_hinge2
9 = coxa_hinge3
10 = femur_hinge3
11 = tibia_hinge3
[ikconfig]
idle_pose = idle
minimum_pose = min
maximum_pose = max
x_offset = 0.0
y_offset = 80.0
z_offset = -90.0
coxa_length = 60.0
femur_length = 60.0
tibia_length = 60.0
plane = 1
scale = 180.0
speed_scale = 880
speed_axis = 0
[ikconfig.legs]
leg.0 = True,0,-1,1,-1,2,-1
leg.1 = True,3,-1,4,-1,5,-1
leg.2 = True,6,-1,7,-1,8,-1
leg.3 = True,9,-1,10,-1,11,-1
leg.4 = False,0,1,0,1,0,1
leg.5 = False,0,1,0,1,0,1
[ikconfig.leg.0]
servo_speed_dps = 360.0
tibia_ident = 2
femur_ident = 1
tibia_length_mm = 60.0
femur_idle_deg = 0.0
coxa_min_deg = -45.0
coxa_idle_deg = 0.0
femur_sign = -1
coxa_ident = 0
coxa_sign = -1
femur_min_deg = -90.0
tibia_min_deg = -90.0
tibia_sign = -1
femur_length_mm = 60.0
coxa_max_deg = 100.0
femur_max_deg = 100.0
tibia_max_deg = 110.0
coxa_length_mm = 60.0
tibia_idle_deg = 90.0
[ikconfig.leg.1]
servo_speed_dps = 360.0
tibia_ident = 5
femur_ident = 4
tibia_length_mm = 60.0
femur_idle_deg = 0.0
coxa_min_deg = -100.0
coxa_idle_deg = 0.0
femur_sign = -1
coxa_ident = 3
coxa_sign = -1
femur_min_deg = -90.0
tibia_min_deg = -90.0
tibia_sign = -1
femur_length_mm = 60.0
coxa_max_deg = 45.0
femur_max_deg = 100.0
tibia_max_deg = 110.0
coxa_length_mm = 60.0
tibia_idle_deg = 90.0
[ikconfig.leg.2]
servo_speed_dps = 360.0
tibia_ident = 8
femur_ident = 7
tibia_length_mm = 60.0
femur_idle_deg = 0.0
coxa_min_deg = -45.0
coxa_idle_deg = 0.0
femur_sign = -1
coxa_ident = 6
coxa_sign = -1
femur_min_deg = -90.0
tibia_min_deg = -90.0
tibia_sign = -1
femur_length_mm = 60.0
coxa_max_deg = 100.0
femur_max_deg = 100.0
tibia_max_deg = 110.0
coxa_length_mm = 60.0
tibia_idle_deg = 90.0
[ikconfig.leg.3]
servo_speed_dps = 360.0
tibia_ident = 11
femur_ident = 10
tibia_length_mm = 60.0
femur_idle_deg = 0.0
coxa_min_deg = -100.0
coxa_idle_deg = 0.0
femur_sign = -1
coxa_ident = 9
coxa_sign = -1
femur_min_deg = -90.0
tibia_min_deg = -90.0
tibia_sign = -1
femur_length_mm = 60.0
coxa_max_deg = 45.0
femur_max_deg = 100.0
tibia_max_deg = 110.0
coxa_length_mm = 60.0
tibia_idle_deg = 90.0
[gaitconfig]
max_cycle_time_s = 4.0
lift_height_mm = 15.0
lift_percent = 25.0
swing_percent = 70.0
position_margin_percent = 80.0
body_z_offset_mm = 80.0
servo_speed_margin_percent = 70.0
static_center_factor = 3.0
static_stable_factor = 10.0
static_margin_mm = 35.0
statically_stable = True
leg_order = 0,1,2,3
geometry_scale_mm = 250.0
command_x_mm_s = 0.0
command_y_mm_s = 30.0
command_rot_deg_s = 0.0
command_body_x_mm = 0.0
command_body_y_mm = 0.0
command_body_z_mm = 0.0
command_body_pitch_deg = 0.0
command_body_roll_deg = 0.0
command_body_yaw_deg = 0.0
geometry_frame = Robot
geometry_projection = X/Y
command_x_axis = Rotation
command_y_axis = Translation Y
command_axis_scale_0 = 400.0
command_axis_scale_1 = 400.0
command_axis_scale_2 = 50.0
command_axis_scale_3 = 100.0
command_axis_scale_4 = 100.0
command_axis_scale_5 = 100.0
command_axis_scale_6 = 45.0
command_axis_scale_7 = 45.0
command_axis_scale_8 = 45.0
[gaitconfig.legs]
leg.0 = 90.00,90.00,0.00,100.00,0.00,0.00
leg.1 = 90.00,-90.00,0.00,100.00,0.00,0.00
leg.2 = -90.00,-90.00,0.00,100.00,0.00,0.00
leg.3 = -90.00,90.00,0.00,100.00,0.00,0.00
body_cog_x_mm = 0.0
body_cog_y_mm = 0.0
body_cog_z_mm = 0.0