[SPIDAR][Control] remove unnecessary part, especially about the joint…

… control
jsk-ros-pkg · Apr 27, 2024 · 21d2d1c · 21d2d1c
1 parent fdcb9c3
commit 21d2d1c
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Showing 3 changed files with 83 additions and 318 deletions.
diff --git a/robots/spidar/config/octo/control/WalkControlConfig.yaml b/robots/spidar/config/octo/control/WalkControlConfig.yaml
@@ -17,12 +17,8 @@ controller:
     joint_static_torque_limit: 3.0
     raise_joint_static_torque_limit: 1.5 # < joint_static_torque_limit
 
-    all_joint_position_control: true
-
     free_leg_torque_mode: false
     raise_separate_motion: true
-    opposite_free_leg_joint_torque_control_mode: true
-    raise_leg_large_torque_control: true
     lower_leg_speed: 0.5 # rad/s
 
     raise_leg_force_i_gain: 100.0 #  /s imediately

diff --git a/robots/spidar/include/spidar/control/walk_control.h b/robots/spidar/include/spidar/control/walk_control.h
@@ -108,11 +108,7 @@ namespace aerial_robot_control
       double joint_ctrl_rate_;
       double tor_kp_;
 
-      bool joint_soft_compliance_;
-      double joint_compliance_end_t_;
-
       bool set_init_servo_torque_;
-      bool all_joint_position_control_;
       bool free_leg_torque_mode_;
       bool raise_separate_motion_;
       double joint_error_angle_thresh_;
@@ -130,9 +126,6 @@ namespace aerial_robot_control
       double thrust_force_weight_;
       double joint_torque_weight_;
 
-      bool opposite_free_leg_joint_torque_control_mode_;
-      bool raise_leg_large_torque_control_;
-
       double raise_leg_force_i_gain_;
       double modify_leg_force_i_gain_;
       double lower_leg_force_i_gain_;