format config

src/lerobot/robots/unitree_g1/config_unitree_g1.py

@@ -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(
+    kp: list = field(default_factory=lambda: [
-        default_factory=lambda: [
+        150, 150, 150, 300, 40, 40,  # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
-            150,
+        150, 150, 150, 300, 40, 40,  # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
-            150,
+        250, 250, 250,  # Waist yaw, roll, pitch
-            150,
+        80, 80, 80, 80,  # Left shoulder pitch, roll, yaw, elbow (kp_low)
-            300,
+        40, 40, 40,      # Left wrist roll, pitch, yaw (kp_wrist)
-            40,
+        80, 80, 80, 80,  # Right shoulder pitch, roll, yaw, elbow (kp_low)
-            40,  # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
+        40, 40, 40,      # Right wrist roll, pitch, yaw (kp_wrist)
-            150,
+        80, 80, 80, 80, 80, 80, # Other
-            150,
+    ])
-            150,
+    
-            300,
+    kd: list = field(default_factory=lambda: [
-            40,
+        2, 2, 2, 4, 2, 2,  # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
-            40,  # Right 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
-            250,
+        5, 5, 5,  # Waist yaw, roll, pitch
-            250,
+        3, 3, 3, 3,  # Left shoulder pitch, roll, yaw, elbow (kd_low)
-            250,  # Waist yaw, roll, pitch
+        1.5, 1.5, 1.5,  # Left wrist roll, pitch, yaw (kd_wrist)
-            80,
+        3, 3, 3, 3,  # Right shoulder pitch, roll, yaw, elbow (kd_low)
-            80,
+        1.5, 1.5, 1.5,  # Right wrist roll, pitch, yaw (kd_wrist)
-            80,
+        3, 3, 3, 3, 3, 3, # Other
-            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]
     )
+