Motor Configuration

set_motor_cfg_pd()

Python

set_motor_cfg_pd(
    kp_config: Dict[str, list[float]],
    kd_config: Dict[str, list[float]]
)

Configures PD mode gain parameters for specified joint groups. Typically set before entering UserCmd or UpperBodyUserCmd state to match the desired control stiffness.

Parameter	Type	Description
kp_config	Dict[str, list[float]]	group name → proportional gain (Kp) list per joint
kd_config	Dict[str, list[float]]	group name → derivative gain (Kd) list per joint

Each list length must match the number of joints in the corresponding group.

Example

Python

client.set_motor_cfg_pd(
    kp_config={
        "left_leg":  [400, 200, 200, 400, 200, 26],
        "right_leg": [400, 200, 200, 400, 200, 26],
        "left_manipulator":  [400, 200, 200, 200, 50, 50, 50],
        "right_manipulator": [400, 200, 200, 200, 50, 50, 50],
    },
    kd_config={
        "left_leg":  [20, 20, 20, 20, 20, 2.6],
        "right_leg": [20, 20, 20, 20, 20, 2.6],
        "left_manipulator":  [20, 10, 10, 10, 2.5, 2.5, 2.5],
        "right_manipulator": [20, 10, 10, 10, 2.5, 2.5, 2.5],
    },
)

---

set_motor_cfg_pos()

Python

set_motor_cfg_pos(
    kp_config: Dict[str, list[float]],
    ki_config: Dict[str, list[float]],
    kd_config: Dict[str, list[float]]
)

Configures position mode PID gain parameters for specified joint groups.

Parameter	Type	Description
kp_config	Dict[str, list[float]]	group name → proportional gain (Kp) list per joint
ki_config	Dict[str, list[float]]	group name → integral gain (Ki) list per joint
kd_config	Dict[str, list[float]]	group name → derivative gain (Kd) list per joint

---

get_group_motor_cfg()

Python

get_group_motor_cfg(group_name: str, key: str = 'pd_kp') -> list[float]

Reads the current motor configuration for a specified joint group.

Parameter	Type	Description
group_name	str	Joint group name
key	str	Configuration item — see table below

key value	Description
'pd_kp'	PD mode proportional gain, default
'pd_kd'	PD mode derivative gain
'pos_kp'	Position mode proportional gain
'pos_ki'	Position mode integral gain
'pos_kd'	Position mode derivative gain

Example

Python

kp = client.get_group_motor_cfg("left_leg", key="pd_kp")
kd = client.get_group_motor_cfg("left_leg", key="pd_kd")
print(f"left_leg PD gains: kp={kp}, kd={kd}")