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16 lines
707 B
16 lines
707 B
IMAGE_TOPIC_NAME = "realsense/color/image_raw"
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STATE_TOPIC_NAME = "G1Env/env_state_act"
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CONTROL_GOAL_TOPIC = "ControlPolicy/upper_body_pose"
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ROBOT_CONFIG_TOPIC = "WBCPolicy/robot_config"
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KEYBOARD_INPUT_TOPIC = "/keyboard_input"
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LOCO_MANIP_TASK_STATUS_TOPIC = "LocoManipPolicy/task_status"
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LOCO_NAV_TASK_STATUS_TOPIC = "NavigationPolicy/task_status"
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LOWER_BODY_POLICY_STATUS_TOPIC = "ControlPolicy/lower_body_policy_status"
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JOINT_SAFETY_STATUS_TOPIC = "ControlPolicy/joint_safety_status"
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DEFAULT_NAV_CMD = [0.0, 0.0, 0.0]
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DEFAULT_BASE_HEIGHT = 0.74
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DEFAULT_WRIST_POSE = [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0] * 2 # x, y, z + w, x, y, z
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DEFAULT_MODEL_SERVER_PORT = 5555 # port used to host the model server
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