FlexRay: serial: FTVXQGER _SoftSpring: &SOFT constant: 0.3 linear: 0.9 quadratic: 0.01 cubic: 0.002 ganglion 0: muscle 0: id: left_biceps Force: output_pos_max: 1000 output_neg_max: -1000 time_period: 100.0 rad_per_encoder_count: 0.00005 P_gain: 70.0 I_gain: 0.0 D_gain: 0.0 forward_gain: 0.0 dead_band: 0.0 integral: 0.0 integral_pos_min: 0.0 integral_pos_max: 0.0 sp_pos_min: -100.0 sp_pos_max: 100.0 torque: 1.0 spring: *SOFT Velocity: output_pos_max: 1000 output_neg_max: -1000 time_period: 100.0 rad_per_encoder_count: 0.00005 P_gain: 200.0 I_gain: 0.0 D_gain: 0.0 forward_gain: 0.0 dead_band: 0.0 integral: 0.0 integral_pos_min: 0.0 integral_pos_max: 0.0 sp_pos_min: -100.0 sp_pos_max: 100.0 Position: output_pos_max: 1000 output_neg_max: -1000 time_period: 100.0 rad_per_encoder_count: 0.00005 P_gain: 100.0 I_gain: 0.0 D_gain: 0.0 forward_gain: 0.0 dead_band: 0.0 integral: 0.0 integral_pos_min: 0.0 integral_pos_max: 0.0 sp_pos_min: -100.0 sp_pos_max: 100.0