From 6d45724d1d02cd486672cfc2cd8427cb17242817 Mon Sep 17 00:00:00 2001 From: hanjun Date: Wed, 19 Mar 2025 09:52:56 +0800 Subject: [PATCH] simplify joint yaml --- .../linux/bin/cfg/examples_hardware_joint_pb_cfg.yaml | 11 ----------- .../bin/cfg/examples_hardware_joint_ros2_cfg.yaml | 11 ----------- ...amples_inverted_pendulum_time_manipulator_cfg.yaml | 7 ------- ...amples_inverted_pendulum_with_pid_control_cfg.yaml | 8 -------- 4 files changed, 37 deletions(-) diff --git a/src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_pb_cfg.yaml b/src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_pb_cfg.yaml index 4759eb8..e3272b7 100644 --- a/src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_pb_cfg.yaml +++ b/src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_pb_cfg.yaml @@ -62,13 +62,8 @@ MujocoSimModule: joints: - name: shoulder_actuator bind_joint: shoulder - bind_actuator_type: position - bind_actuator_name: shoulder_actuator - name: elbow_actuator bind_joint: elbow - bind_actuator_type: position - bind_actuator_name: elbow_actuator - publisher_options: - topic: /examples_hardware/joint/joint_state frequency: 1 @@ -78,12 +73,6 @@ MujocoSimModule: joints: - name: shoulder_sensor bind_joint: shoulder - bind_jointpos_sensor: jointpos_shoulder - bind_jointvel_sensor: jointvel_shoulder - bind_jointactuatorfrc_sensor: jointactuatorfrc_shoulder - name: elbow_sensor bind_joint: elbow - bind_jointpos_sensor: jointpos_elbow - bind_jointvel_sensor: jointvel_elbow - bind_jointactuatorfrc_sensor: jointactuatorfrc_elbow diff --git a/src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_ros2_cfg.yaml b/src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_ros2_cfg.yaml index b0eed5a..5175ee9 100644 --- a/src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_ros2_cfg.yaml +++ b/src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_ros2_cfg.yaml @@ -66,13 +66,8 @@ MujocoSimModule: joints: - name: shoulder_actuator bind_joint: shoulder - bind_actuator_type: position - bind_actuator_name: shoulder_actuator - name: elbow_actuator bind_joint: elbow - bind_actuator_type: position - bind_actuator_name: elbow_actuator - publisher_options: - topic: /examples_hardware/joint/joint_state frequency: 1 @@ -82,11 +77,5 @@ MujocoSimModule: joints: - name: shoulder_sensor bind_joint: shoulder - bind_jointpos_sensor: jointpos_shoulder - bind_jointvel_sensor: jointvel_shoulder - bind_jointactuatorfrc_sensor: jointactuatorfrc_shoulder - name: elbow_sensor bind_joint: elbow - bind_jointpos_sensor: jointpos_elbow - bind_jointvel_sensor: jointvel_elbow - bind_jointactuatorfrc_sensor: jointactuatorfrc_elbow diff --git a/src/examples/inverted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_time_manipulator_cfg.yaml b/src/examples/inverted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_time_manipulator_cfg.yaml index 3210eb7..07d06f2 100644 --- a/src/examples/inverted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_time_manipulator_cfg.yaml +++ b/src/examples/inverted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_time_manipulator_cfg.yaml @@ -75,9 +75,6 @@ MujocoSimModule: joints: - name: center_joint bind_joint: hinge1 - bind_actuator_type: motor - bind_actuator_name: center_motor - publisher_options: - topic: /inverted_pendulum/joint_state frequency: 1000 @@ -87,12 +84,8 @@ MujocoSimModule: joints: - name: center_joint bind_joint: hinge1 - bind_jointpos_sensor: jointpos_hinge1 - bind_jointvel_sensor: jointvel_hinge1 - name: edge_joint bind_joint: hinge2 - bind_jointpos_sensor: jointpos_hinge2 - bind_jointvel_sensor: jointvel_hinge2 PidControlModule: topic_name_sub: /inverted_pendulum/joint_state diff --git a/src/examples/inverted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_with_pid_control_cfg.yaml b/src/examples/inverted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_with_pid_control_cfg.yaml index 902fbf6..3a11eca 100644 --- a/src/examples/inverted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_with_pid_control_cfg.yaml +++ b/src/examples/inverted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_with_pid_control_cfg.yaml @@ -66,9 +66,6 @@ MujocoSimModule: joints: - name: center_joint bind_joint: hinge1 - bind_actuator_type: motor - bind_actuator_name: center_motor - publisher_options: - topic: /inverted_pendulum/joint_state frequency: 1000 @@ -78,13 +75,8 @@ MujocoSimModule: joints: - name: center_joint bind_joint: hinge1 - bind_jointpos_sensor: jointpos_hinge1 - bind_jointvel_sensor: jointvel_hinge1 - name: edge_joint bind_joint: hinge2 - bind_jointpos_sensor: jointpos_hinge2 - bind_jointvel_sensor: jointvel_hinge2 - PidControlModule: topic_name_sub: /inverted_pendulum/joint_state topic_name_pub: /inverted_pendulum/joint_command