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default.yaml
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default.yaml
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bus:
-
name: left_bus
type: GoMotor
adapter: /dev/ttyUSB0
version: 1
-
name: right_bus
type: GoMotor
adapter: /dev/ttyUSB1
version: 1
neck:
bus: left_bus
id: 0
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
leg:
left:
bus: left_bus
ankle:
pitch:
id: 1
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
knee:
pitch:
id: 2
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
hip:
pitch:
id: 3
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
roll:
id: 4
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
yaw:
id: 5
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
right:
bus: right_bus
ankle:
pitch:
id: 1
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
knee:
pitch:
id: 2
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
hip:
pitch:
id: 3
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
roll:
id: 4
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false
yaw:
id: 5
range: [.nan, .nan]
kp: 1.0
kd: 0.01
tau: 0
invert: false