15 lines
630 B
Python
15 lines
630 B
Python
ROBOT = "go2" # Robot name, "go2", "b2", "b2w", "h1"
|
|
ROBOT_SCENE = "../unitree_robots/" + ROBOT + "/scene.xml" # Robot scene
|
|
DOMAIN_ID = 1 # Domain id
|
|
INTERFACE = "lo" # Interface
|
|
|
|
USE_JOYSTICK = 1 # Simulate Unitree WirelessController using a gamepad
|
|
JOYSTICK_TYPE = "xbox" # support "xbox" and "switch" gamepad layout
|
|
JOYSTICK_DEVICE = 0 # Joystick number
|
|
|
|
PRINT_SCENE_INFORMATION = True # Print link, joint and sensors information of robot
|
|
ENABLE_ELASTIC_BAND = False # Virtual spring band, used for lifting h1
|
|
|
|
SIMULATE_DT = 0.003 # Need to be larger than the runtime of viewer.sync()
|
|
VIEWER_DT = 0.02 # 50 fps for viewer
|