Skip to content

[refactor] simplify joint yaml #25

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
wtudio merged 1 commit into from
Mar 19, 2025
Merged

[refactor] simplify joint yaml #25

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 0 additions & 11 deletions src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_pb_cfg.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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

11 changes: 0 additions & 11 deletions src/examples/hardware/install/linux/bin/cfg/examples_hardware_joint_ros2_cfg.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
7 changes: 0 additions & 7 deletions ...erted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_time_manipulator_cfg.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down
8 changes: 0 additions & 8 deletions ...erted_pendulum/install/linux/bin/cfg/examples_inverted_pendulum_with_pid_control_cfg.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down
Loading