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46 lines
No EOL
768 B
YAML
46 lines
No EOL
768 B
YAML
arm_group_controller:
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type: effort_controllers/JointTrajectoryController
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joints:
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- joint1_to_base
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- joint2_to_joint1
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- joint3_to_joint2
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- joint4_to_joint3
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- joint5_to_joint4
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- joint6_to_joint5
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- joint7_to_joint6
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gains:
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joint1_to_base:
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p: 100
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d: 1
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i: 1
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i_clamp: 1
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joint2_to_joint1:
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p: 100
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d: 1
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i: 1
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i_clamp: 1
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joint3_to_joint2:
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p: 100
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d: 1
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i: 1
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i_clamp: 1
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joint4_to_joint3:
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p: 100
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d: 1
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i: 1
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i_clamp: 1
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joint5_to_joint4:
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p: 100
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d: 1
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i: 1
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i_clamp: 1
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joint6_to_joint5:
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p: 100
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d: 1
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i: 1
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i_clamp: 1
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joint7_to_joint6:
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p: 100
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d: 1
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i: 1
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i_clamp: 1 |