36 lines
1.3 KiB
Python
36 lines
1.3 KiB
Python
from legged_gym import 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.joint2motor_idx = config["joint2motor_idx"]
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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.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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self.kps = np.array(config["kps"],dtype=np.float32)
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self.kds = np.array(config["kds"],dtype=np.float32)
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self.default_angles = np.array(config["default_angles"], dtype=np.float32)
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self.obs_scales_ang_vel = config["obs_scales_ang_vel"]
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self.obs_scales_dof_pos = config["obs_scales_dof_pos"]
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self.obs_scales_dof_vel = config["obs_scales_dof_vel"]
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self.command_scale = config["command_scale"]
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self.action_scale = config["action_scale"]
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self.num_actions = config["num_actions"]
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self.num_obs = config["num_obs"]
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