Remove one joint

Author: Roelemans

march_hardware_builder/robots/two_odrive_joints.yaml

@@ -3,19 +3,19 @@ march4:
   cycleTime: 4
   slaveTimeout: 50
   joints:
-    - right_hip_fe:
-        actuationMode: torque
-        allowActuation: true
-        odrive:
-          serial_number: "0x2084387E304E"
-          axis: "axis0"
-          absoluteEncoder:
-            resolution: 17
-            minPositionIU: 2045
-            maxPositionIU: 45632
-          incrementalEncoder:
-            resolution: 12
-            transmission: 101
+#    - right_hip_fe:
+#        actuationMode: torque
+#        allowActuation: true
+#        odrive:
+#          serial_number: "0x2084387E304E"
+#          axis: "axis0"
+#          absoluteEncoder:
+#            resolution: 17
+#            minPositionIU: 2045
+#            maxPositionIU: 45632
+#          incrementalEncoder:
+#            resolution: 12
+#            transmission: 101
 
     - right_knee:
         actuationMode: torque

march_hardware_interface/config/two_odrive_joints/controllers.yaml

@@ -13,16 +13,16 @@ march:
       type: effort_controllers/JointTrajectoryController
       allow_partial_joints_goal: true
       joints:
-        - right_hip_fe
+#        - right_hip_fe
         - right_knee
       gains: # Required because we're controlling an effort interface
-        right_hip_fe: {p: 0, i: 0, d: 0, i_clamp: 100, publish_state: true, antiwindup: true}
+#        right_hip_fe: {p: 0, i: 0, d: 0, i_clamp: 100, publish_state: true, antiwindup: true}
         right_knee: {p: 0, i: 0, d: 0, i_clamp: 100, publish_state: true, antiwindup: true}
       constraints:
-        right_hip_fe:
-          margin_soft_limit_error: 0.5
-          trajectory: 0.305
-          goal: 0.305
+#        right_hip_fe:
+#          margin_soft_limit_error: 0.5
+#          trajectory: 0.305
+#          goal: 0.305
         right_knee:
           margin_soft_limit_error: 0.5
           trajectory: 0.305