Update sim/unitree_sdk2py_bridge.py

sim/unitree_sdk2py_bridge.py

@@ -120,27 +120,6 @@ class UnitreeSdk2Bridge:
 
         self.reset()
 
-        # Initialize motors with default KP/KD from config to make robot stiff at startup
-        self._initialize_motor_defaults()
-
-    def _initialize_motor_defaults(self):
-        """Initialize motor commands with default KP/KD and joint positions"""
-        if "MOTOR_KP" in self.config and "MOTOR_KD" in self.config:
-            motor_kp = self.config["MOTOR_KP"]
-            motor_kd = self.config["MOTOR_KD"]
-            default_dof_angles = self.config.get("DEFAULT_DOF_ANGLES", [0.0] * self.num_body_motor)
-
-            for i in range(min(self.num_body_motor, len(motor_kp))):
-                self.low_cmd.motor_cmd[i].kp = motor_kp[i]
-                self.low_cmd.motor_cmd[i].kd = motor_kd[i]
-                self.low_cmd.motor_cmd[i].q = default_dof_angles[i] if i < len(default_dof_angles) else 0.0
-                self.low_cmd.motor_cmd[i].dq = 0.0
-                self.low_cmd.motor_cmd[i].tau = 0.0
-
-            print(f"✓ Initialized {self.num_body_motor} motors with default KP/KD gains")
-        else:
-            print("⚠ Warning: MOTOR_KP/MOTOR_KD not found in config, robot will be limp at startup")
-
     def reset(self):
         with self.low_cmd_lock:
             self.low_cmd_received = False