| # Robot Configuration | |
| ROBOT_TYPE: 'g1_29dof' | |
| END_EFFECTOR: "dex1" # "dex1" parallel grippers, "dex3" articulated hands, or "dummy" for none | |
| ROBOT_SCENE: "assets/scene_33dof.xml" # Selected automatically from END_EFFECTOR | |
| # DDS Communication | |
| DOMAIN_ID: 0 | |
| INTERFACE: "lo" # "lo" for simulation, network interface with "192.168.123.222" for real robot | |
| SIMULATOR: "mujoco" | |
| # Joystick (auto-detected at startup; these are defaults when a controller is found) | |
| JOYSTICK_TYPE: "xbox" # "xbox" or "switch" | |
| JOYSTICK_DEVICE: 0 | |
| # Simulation Settings | |
| FREE_BASE: False | |
| enable_waist: False # False = band on torso, True = band on pelvis | |
| ENABLE_ELASTIC_BAND: True | |
| # Timing | |
| SIMULATE_DT: 0.004 # 250Hz physics | |
| VIEWER_DT: 0.02 # 50Hz viewer update | |
| IMAGE_DT: 0.033333 # ~30Hz camera | |
| # Rendering | |
| ENABLE_ONSCREEN: true | |
| ENABLE_OFFSCREEN: false | |
| MP_START_METHOD: "spawn" | |
| CAMERAS: ["head_camera", "left_wrist_cam", "right_wrist_cam"] | |
| # Sensors | |
| USE_SENSOR: False | |
| PRINT_SCENE_INFORMATION: True | |
| # Robot Dimensions | |
| NUM_MOTORS: 29 | |
| NUM_JOINTS: 29 | |
| NUM_HAND_MOTORS: 2 | |
| NUM_HAND_JOINTS: 2 | |
| # Selected automatically per mode: 29 body + 4 gripper = 33 total. | |
| # Revolute joint torque limits in Nm; prismatic finger force limits in N. | |
| motor_effort_limit_list: [ | |
| 88.0, 88.0, 88.0, 139.0, 50.0, 50.0, # left leg | |
| 88.0, 88.0, 88.0, 139.0, 50.0, 50.0, # right leg | |
| 88.0, 50.0, 50.0, # waist | |
| 25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0, # left arm | |
| 20.0, 20.0, # left gripper | |
| 25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0, # right arm | |
| 20.0, 20.0 # right gripper | |
| ] | |