Init

deploy/deploy_real/config_go2.py

@@ -0,0 +1,35 @@
+from legged_gym import LEGGED_GYM_ROOT_DIR
+import numpy as np
+import yaml
+
+
+class Config:
+    def __init__(self, file_path) -> None:
+        with open(file_path, "r") as f:
+            config = yaml.load(f, Loader=yaml.FullLoader)
+
+            self.control_dt = config["control_dt"]
+
+            self.joint2motor_idx = config["joint2motor_idx"]
+
+            self.msg_type = config["msg_type"]
+            self.imu_type = config["imu_type"]
+
+            self.lowcmd_topic = config["lowcmd_topic"]
+            self.lowstate_topic = config["lowstate_topic"]
+
+            self.policy_path = config["policy_path"].replace("{LEGGED_GYM_ROOT_DIR}", LEGGED_GYM_ROOT_DIR)
+
+            self.kps = np.array(config["kps"],dtype=np.float32)
+            self.kds = np.array(config["kds"],dtype=np.float32)
+            self.default_angles = np.array(config["default_angles"], dtype=np.float32)
+
+            self.obs_scales_ang_vel = config["obs_scales_ang_vel"]
+            self.obs_scales_dof_pos = config["obs_scales_dof_pos"]
+            self.obs_scales_dof_vel = config["obs_scales_dof_vel"]
+
+            self.command_scale = config["command_scale"]
+            self.action_scale = config["action_scale"]
+
+            self.num_actions = config["num_actions"]
+            self.num_obs = config["num_obs"]