# Copyright 2026 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

joint1:
  kp: 70.0
  kd: 2.75

joint2:
  kp: 70.0
  kd: 2.5

joint3:
  kp: 70.0
  kd: 2.0

joint4:
  kp: 60.0
  kd: 2.0

joint5:
  kp: 10.0
  kd: 0.7

joint6:
  kp: 10.0
  kd: 0.6

joint7:
  kp: 10.0
  kd: 0.5