diff --git a/src/robots/a1_description/config/robot_control.yaml b/src/robots/a1_description/config/robot_control.yaml
index e4aa601..2d546cb 100644
--- a/src/robots/a1_description/config/robot_control.yaml
+++ b/src/robots/a1_description/config/robot_control.yaml
@@ -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}
 
diff --git a/src/robots/go2_description/config/robot_control.yaml b/src/robots/go2_description/config/robot_control.yaml
index dbfefd2..b9236b2 100755
--- a/src/robots/go2_description/config/robot_control.yaml
+++ b/src/robots/go2_description/config/robot_control.yaml
@@ -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}
 
diff --git a/src/robots/gr1t1_description/config/robot_control.yaml b/src/robots/gr1t1_description/config/robot_control.yaml
index c152832..2b522aa 100644
--- a/src/robots/gr1t1_description/config/robot_control.yaml
+++ b/src/robots/gr1t1_description/config/robot_control.yaml
@@ -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}
diff --git a/src/robots/gr1t2_description/config/robot_control.yaml b/src/robots/gr1t2_description/config/robot_control.yaml
index 23407b9..464039a 100644
--- a/src/robots/gr1t2_description/config/robot_control.yaml
+++ b/src/robots/gr1t2_description/config/robot_control.yaml
@@ -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}