name: 'hybridAdmit'

mass_z: [3.0]
stiff_z: [0]
damp_z: [30]
desired_xi: 1.0

# 位控参数
Kp: [20,20]
Ki: [0.2,0.2]
Kd: [10,10]

# 位控参数
Kp_R: [1,1,1]
Ki_R: [0,0,0]
Kd_R: [1,1,1]




# # 位控参数
# Kp: [90,90]
# Kd: [25,25]