82 lines
3.0 KiB
Python
82 lines
3.0 KiB
Python
try:
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from legged_gym import LEGGED_GYM_ROOT_DIR
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except ModuleNotFoundError:
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LEGGED_GYM_ROOT_DIR='../..'
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import numpy as np
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import yaml
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class Config:
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def __init__(self, file_path) -> None:
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with open(file_path, "r") as f:
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config = yaml.load(f, Loader=yaml.FullLoader)
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self.control_dt = config["control_dt"]
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self.msg_type = config["msg_type"]
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self.imu_type = config["imu_type"]
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self.weak_motor = []
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if "weak_motor" in config:
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self.weak_motor = config["weak_motor"]
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self.lowcmd_topic = config["lowcmd_topic"]
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self.lowstate_topic = config["lowstate_topic"]
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self.policy_path = config["policy_path"].replace("{LEGGED_GYM_ROOT_DIR}", LEGGED_GYM_ROOT_DIR)
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if 'leg_joint2motor_idx' in config:
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self.leg_joint2motor_idx = config["leg_joint2motor_idx"]
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if 'joint2motor_idx' in config:
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self.joint2motor_idx = config["joint2motor_idx"]
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self.kps = config["kps"]
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self.kds = config["kds"]
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self.default_angles = np.array(config["default_angles"], dtype=np.float32)
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if 'arm_waist_joint2motor_idx' in config:
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self.arm_waist_joint2motor_idx = config["arm_waist_joint2motor_idx"]
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self.arm_waist_kps = config["arm_waist_kps"]
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self.arm_waist_kds = config["arm_waist_kds"]
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self.arm_waist_target = np.array(config["arm_waist_target"], dtype=np.float32)
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else:
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self.arm_waist_joint2motor_idx = []
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self.arm_waist_kps = []
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self.arm_waist_kds = []
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self.arm_waist_target = []
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if 'motor_joint' in config:
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self.motor_joint = config['motor_joint']
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else:
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self.motor_joint=[]
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if 'arm_joint' in config:
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self.arm_joint = config['arm_joint']
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else:
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self.arm_joint=[]
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if 'non_arm_joint' in config:
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self.non_arm_joint = config['non_arm_joint']
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else:
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self.non_arm_joint=[]
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if 'lab_joint' in config:
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self.lab_joint = config['lab_joint']
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else:
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self.lab_joint=[]
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if 'lab_joint_offsets' in config:
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self.lab_joint_offsets = config['lab_joint_offsets']
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else:
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self.lab_joint_offsets=[]
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self.ang_vel_scale = config["ang_vel_scale"]
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self.dof_pos_scale = config["dof_pos_scale"]
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self.dof_vel_scale = config["dof_vel_scale"]
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self.action_scale = config["action_scale"]
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self.cmd_scale = np.array(config["cmd_scale"], dtype=np.float32)
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self.max_cmd = np.array(config["max_cmd"], dtype=np.float32)
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self.num_actions = config["num_actions"]
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self.num_obs = config["num_obs"]
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