orbit_control.yaml

/orbit:
  joint1_position_controller:
    type: effort_controllers/JointPositionController
    joint: Left_hip_yaw
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint2_position_controller:
    type: effort_controllers/JointPositionController
    joint: orbit_hip_left
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint3_position_controller:
    type: effort_controllers/JointPositionController
    joint: Left_knee_pitch
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint4_position_controller:
    type: effort_controllers/JointPositionController
    joint: Left_ankle_pitch
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint5_position_controller:
    type: effort_controllers/JointPositionController
    joint: Right_hip_yaw
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint6_position_controller:
    type: effort_controllers/JointPositionController
    joint: Right_knee_pitch
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint7_position_controller:
    type: effort_controllers/JointPositionController
    joint: Right_ankle_pitch
    pid: {p: 100.0, i: 0.01, d: 10.0}