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fix: del unused pid cfg params

This commit is contained in:
fan-ziqi 2025-01-11 22:20:40 +08:00
parent 4575a5b62d
commit 592c4fa3e4
4 changed files with 8 additions and 52 deletions
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14
src/robots/a1_description/config/robot_control.yaml
View File

@ -5,69 +5,57 @@ a1_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
publish_rate: 1000
# FL Controllers ---------------------------------------
FL_hip_controller:
type: robot_joint_controller/RobotJointController
joint: FL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FL_thigh_controller:
type: robot_joint_controller/RobotJointController
joint: FL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FL_calf_controller:
type: robot_joint_controller/RobotJointController
joint: FL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# FR Controllers ---------------------------------------
FR_hip_controller:
type: robot_joint_controller/RobotJointController
joint: FR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FR_thigh_controller:
type: robot_joint_controller/RobotJointController
joint: FR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FR_calf_controller:
type: robot_joint_controller/RobotJointController
joint: FR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RL Controllers ---------------------------------------
RL_hip_controller:
type: robot_joint_controller/RobotJointController
joint: RL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RL_thigh_controller:
type: robot_joint_controller/RobotJointController
joint: RL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RL_calf_controller:
type: robot_joint_controller/RobotJointController
joint: RL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RR Controllers ---------------------------------------
RR_hip_controller:
type: robot_joint_controller/RobotJointController
joint: RR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RR_thigh_controller:
type: robot_joint_controller/RobotJointController
joint: RR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RR_calf_controller:
type: robot_joint_controller/RobotJointController
joint: RR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

14
src/robots/go2_description/config/robot_control.yaml
View File

@ -5,69 +5,57 @@ go2_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
publish_rate: 1000
# FL Controllers ---------------------------------------
FL_hip_controller:
type: robot_joint_controller/RobotJointController
joint: FL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FL_thigh_controller:
type: robot_joint_controller/RobotJointController
joint: FL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FL_calf_controller:
type: robot_joint_controller/RobotJointController
joint: FL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# FR Controllers ---------------------------------------
FR_hip_controller:
type: robot_joint_controller/RobotJointController
joint: FR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FR_thigh_controller:
type: robot_joint_controller/RobotJointController
joint: FR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FR_calf_controller:
type: robot_joint_controller/RobotJointController
joint: FR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RL Controllers ---------------------------------------
RL_hip_controller:
type: robot_joint_controller/RobotJointController
joint: RL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RL_thigh_controller:
type: robot_joint_controller/RobotJointController
joint: RL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RL_calf_controller:
type: robot_joint_controller/RobotJointController
joint: RL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RR Controllers ---------------------------------------
RR_hip_controller:
type: robot_joint_controller/RobotJointController
joint: RR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RR_thigh_controller:
type: robot_joint_controller/RobotJointController
joint: RR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RR_calf_controller:
type: robot_joint_controller/RobotJointController
joint: RR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

16
src/robots/gr1t1_description/config/robot_control.yaml
View File

@ -5,56 +5,46 @@ gr1t1_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
publish_rate: 1000
# left leg Controllers ---------------------------------------
l_hip_roll_controller:
type: robot_joint_controller/RobotJointController
joint: l_hip_roll
pid: {p: 57.0, i: 0.0, d: 5.7}
l_hip_yaw_controller:
type: robot_joint_controller/RobotJointController
joint: l_hip_yaw
pid: {p: 43.0, i: 0.0, d: 4.3}
l_hip_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: l_hip_pitch
pid: {p: 114.0, i: 0.0, d: 11.4}
l_knee_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: l_knee_pitch
pid: {p: 114.0, i: 0.0, d: 11.4}
l_ankle_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: l_ankle_pitch
pid: {p: 15.3, i: 0.0, d: 1.5}
# right leg Controllers ---------------------------------------
r_hip_roll_controller:
type: robot_joint_controller/RobotJointController
joint: r_hip_roll
pid: {p: 57.0, i: 0.0, d: 5.7}
r_hip_yaw_controller:
type: robot_joint_controller/RobotJointController
joint: r_hip_yaw
pid: {p: 43.0, i: 0.0, d: 4.3}
r_hip_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: r_hip_pitch
pid: {p: 114.0, i: 0.0, d: 11.4}
r_knee_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: r_knee_pitch
pid: {p: 114.0, i: 0.0, d: 11.4}
r_ankle_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: r_ankle_pitch
pid: {p: 15.3, i: 0.0, d: 1.5}

16
src/robots/gr1t2_description/config/robot_control.yaml
View File

@ -5,56 +5,46 @@ gr1t2_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
publish_rate: 1000
# left leg Controllers ---------------------------------------
l_hip_roll_controller:
type: robot_joint_controller/RobotJointController
joint: l_hip_roll
pid: {p: 57.0, i: 0.0, d: 5.7}
l_hip_yaw_controller:
type: robot_joint_controller/RobotJointController
joint: l_hip_yaw
pid: {p: 43.0, i: 0.0, d: 4.3}
l_hip_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: l_hip_pitch
pid: {p: 114.0, i: 0.0, d: 11.4}
l_knee_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: l_knee_pitch
pid: {p: 114.0, i: 0.0, d: 11.4}
l_ankle_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: l_ankle_pitch
pid: {p: 15.3, i: 0.0, d: 1.5}
# right leg Controllers ---------------------------------------
r_hip_roll_controller:
type: robot_joint_controller/RobotJointController
joint: r_hip_roll
pid: {p: 57.0, i: 0.0, d: 5.7}
r_hip_yaw_controller:
type: robot_joint_controller/RobotJointController
joint: r_hip_yaw
pid: {p: 43.0, i: 0.0, d: 4.3}
r_hip_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: r_hip_pitch
pid: {p: 114.0, i: 0.0, d: 11.4}
r_knee_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: r_knee_pitch
pid: {p: 114.0, i: 0.0, d: 11.4}
r_ankle_pitch_controller:
type: robot_joint_controller/RobotJointController
joint: r_ankle_pitch
pid: {p: 15.3, i: 0.0, d: 1.5}