Source code for embodichain_robots.anybotics.anymal_c.cfg

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"""Configuration for the 12-joint ANYmal-C quadruped."""

from __future__ import annotations

from typing import Any

from embodichain.utils import configclass

from ..._locomotion import _LocomotionRobotCfg, _apply_profile

__all__ = ["ANYmalCCfg"]




@configclass
class ANYmalCCfg(_LocomotionRobotCfg):
    """Configure the bundled 12-joint ANYmal-C quadruped with its default PD drives.

    The preset preserves the existing locomotion simulation asset and standing
    pose. It provides the locomotion control group without an IK solver.
    Construct it with :meth:`from_dict` to assemble defaults and caller overrides.
    """

    def _build_defaults(self, init_dict: dict[str, Any] | None = None) -> None:
        """Populate the model's asset, control group, pose and drive defaults."""
        _apply_profile(self, "ANYmalC", init_dict)