Source code for embodichain_robots.locomotion_profiles

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# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
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# Licensed under the Apache License, Version 2.0 (the "License");
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#     http://www.apache.org/licenses/LICENSE-2.0
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"""Backend-independent descriptions of the bundled locomotion robot models."""

from __future__ import annotations

from copy import deepcopy
from functools import lru_cache
from importlib.resources import files
import json
from typing import Any

__all__ = ["load_locomotion_robot_profile"]


_PROFILE_PACKAGES = {
    "UnitreeGo1": "embodichain_robots.unitree.go1",
    "UnitreeGo2": "embodichain_robots.unitree.go2",
    "UnitreeG1": "embodichain_robots.unitree.g1",
    "UnitreeH1_2": "embodichain_robots.unitree.h1_2",
    "ANYmalC": "embodichain_robots.anybotics.anymal_c",
    "MicroDuck": "embodichain_robots.pollen_robotics.microduck",
}


@lru_cache(maxsize=6)
def _profile(package: str) -> dict[str, Any]:
    resource = files(package).joinpath("profile.json")
    return json.loads(resource.read_text(encoding="utf-8"))




def load_locomotion_robot_profile(robot_id: str) -> dict[str, Any]:
    """Load an isolated model description without importing simulation code.

    Args:
        robot_id: Exact bundled locomotion robot catalog ID.

    Returns:
        A fresh mapping containing ``asset`` construction defaults, ``robot``
        joint order, standing pose and drive parameters, and ``frames`` model
        reference points. Joint positions in ``asset.init_qpos`` follow source
        asset order; ``robot.default_joint_position`` follows ``robot.joint_names``.
        Profiles describe the existing simulation models, not hardware calibration.

    Raises:
        ValueError: The ID has no bundled locomotion profile.
    """
    try:
        package = _PROFILE_PACKAGES[robot_id]
    except KeyError as error:
        raise ValueError(f"Unknown locomotion robot profile {robot_id!r}.") from error
    return deepcopy(_profile(package))