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format config

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This commit is contained in:
Martino Russi
2025-11-26 18:26:56 +01:00
parent dc2ebd4e12
commit 55ee13aec1
1 changed files with 25 additions and 79 deletions
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src/lerobot/robots/unitree_g1/config_unitree_g1.py
+25 -79
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@@ -15,6 +15,9 @@
# limitations under the License.
from dataclasses import dataclass, field
from typing import Any
from lerobot.cameras import CameraConfig
from ..config import RobotConfig
@@ -25,85 +28,27 @@ class UnitreeG1Config(RobotConfig):
# id: str = "unitree_g1"
simulation_mode: bool = False
kp: list = field(
default_factory=lambda: [
150,
150,
150,
300,
40,
40, # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
150,
150,
150,
300,
40,
40, # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
250,
250,
250, # Waist yaw, roll, pitch
80,
80,
80,
80, # Left shoulder pitch, roll, yaw, elbow (kp_low)
40,
40,
40, # Left wrist roll, pitch, yaw (kp_wrist)
80,
80,
80,
80, # Right shoulder pitch, roll, yaw, elbow (kp_low)
40,
40,
40, # Right wrist roll, pitch, yaw (kp_wrist)
80,
80,
80,
80,
80,
80, # Other
]
)
kd: list = field(
default_factory=lambda: [
2,
2,
2,
4,
2,
2, # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
2,
2,
2,
4,
2,
2, # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
5,
5,
5, # Waist yaw, roll, pitch
3,
3,
3,
3, # Left shoulder pitch, roll, yaw, elbow (kd_low)
1.5,
1.5,
1.5, # Left wrist roll, pitch, yaw (kd_wrist)
3,
3,
3,
3, # Right shoulder pitch, roll, yaw, elbow (kd_low)
1.5,
1.5,
1.5, # Right wrist roll, pitch, yaw (kd_wrist)
3,
3,
3,
3,
3,
3, # Other
]
)
kp: list = field(default_factory=lambda: [
150, 150, 150, 300, 40, 40, # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
150, 150, 150, 300, 40, 40, # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
250, 250, 250, # Waist yaw, roll, pitch
80, 80, 80, 80, # Left shoulder pitch, roll, yaw, elbow (kp_low)
40, 40, 40, # Left wrist roll, pitch, yaw (kp_wrist)
80, 80, 80, 80, # Right shoulder pitch, roll, yaw, elbow (kp_low)
40, 40, 40, # Right wrist roll, pitch, yaw (kp_wrist)
80, 80, 80, 80, 80, 80, # Other
])
kd: list = field(default_factory=lambda: [
2, 2, 2, 4, 2, 2, # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
2, 2, 2, 4, 2, 2, # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
5, 5, 5, # Waist yaw, roll, pitch
3, 3, 3, 3, # Left shoulder pitch, roll, yaw, elbow (kd_low)
1.5, 1.5, 1.5, # Left wrist roll, pitch, yaw (kd_wrist)
3, 3, 3, 3, # Right shoulder pitch, roll, yaw, elbow (kd_low)
1.5, 1.5, 1.5, # Right wrist roll, pitch, yaw (kd_wrist)
3, 3, 3, 3, 3, 3, # Other
])
arm_velocity_limit = 100.0
control_dt = 1.0 / 250.0
@@ -113,3 +58,4 @@ class UnitreeG1Config(RobotConfig):
default_leg_angles: list = field(
default_factory=lambda: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0, -0.1, 0.0, 0.0, 0.3, -0.2, 0.0]
)