| """Legacy robot config container (deprecated -- prefer 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) |
| 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"] |
|
|
