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0651b21 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 | """Legacy robot config container (deprecated -- prefer robot_model package)."""
# TODO: This class and associated configs should be deleted and instead use the robot_model package
class Robot:
def __init__(self, config):
self.ROBOT_TYPE = config["ROBOT_TYPE"]
self.MOTOR2JOINT = config["MOTOR2JOINT"]
self.JOINT2MOTOR = config["JOINT2MOTOR"]
self.UNITREE_LEGGED_CONST = config["UNITREE_LEGGED_CONST"]
self.MOTOR_KP = config["MOTOR_KP"]
self.MOTOR_KD = config["MOTOR_KD"]
if "HAND_MOTOR_KP" in config:
self.HAND_MOTOR_KP = config["HAND_MOTOR_KP"]
if "HAND_MOTOR_KD" in config:
self.HAND_MOTOR_KD = config["HAND_MOTOR_KD"]
self.WeakMotorJointIndex = config["WeakMotorJointIndex"]
self.NUM_MOTORS = config["NUM_MOTORS"]
self.NUM_JOINTS = config["NUM_JOINTS"]
self.NUM_HAND_MOTORS = config.get("NUM_HAND_MOTORS", 0) # only 43dof has hand
self.NUM_HAND_JOINTS = config.get("NUM_HAND_JOINTS", 0)
self.DEFAULT_DOF_ANGLES = config["DEFAULT_DOF_ANGLES"]
self.DEFAULT_MOTOR_ANGLES = config["DEFAULT_MOTOR_ANGLES"]
self.USE_SENSOR = config["USE_SENSOR"]
self.MOTOR_EFFORT_LIMIT_LIST = config["motor_effort_limit_list"]
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