xbox_udp链路

Deploy_Tienkung/policy/xsim_run/config/xsim_run.yaml

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+model_path: "../mypolicy/model/policy.onnx"
+motor_num: 29
+actions_size: 23
+dt: 0.01
+warm_start_time: 0.0
+command_clip: 1.0
+
+sim:
+  mujoco_timestep: 0.005
+
+joint_names: [
+  hip_pitch_l_joint, hip_pitch_r_joint, waist_yaw_joint,
+  hip_roll_l_joint, hip_roll_r_joint, waist_roll_joint,
+  hip_yaw_l_joint, hip_yaw_r_joint, waist_pitch_joint,
+  knee_pitch_l_joint, knee_pitch_r_joint,
+  shoulder_pitch_l_joint, shoulder_pitch_r_joint,
+  ankle_pitch_l_joint, ankle_pitch_r_joint,
+  shoulder_roll_l_joint, shoulder_roll_r_joint,
+  ankle_roll_l_joint, ankle_roll_r_joint,
+  shoulder_yaw_l_joint, shoulder_yaw_r_joint,
+  elbow_pitch_l_joint, elbow_pitch_r_joint
+]
+
+control:
+  action_scale: 0.25
+  decimation: 2
+
+gait:
+  gait_air_ratio_l: 0.6
+  gait_air_ratio_r: 0.6
+  gait_phase_offset_l: 0.6
+  gait_phase_offset_r: 0.1
+  gait_cycle: 0.64
+
+normalization:
+  clip_scales:
+    clip_observations: 100.0
+    clip_actions: 100.0
+
+size:
+  num_hist: 10
+  observations_size: 84
+
+gains:
+  kp: [
+    300.0, 300.0, 400.0,
+    300.0, 300.0, 400.0,
+    150.0, 150.0, 400.0,
+    350.0, 350.0,
+    150.0, 150.0,
+    30.0, 30.0,
+    50.0, 50.0,
+    16.8, 16.8,
+    50.0, 50.0,
+    150.0, 150.0
+  ]
+  kd: [
+    10.0, 10.0, 5.0,
+    10.0, 10.0, 10.0,
+    5.0, 5.0, 10.0,
+    10.0, 10.0,
+    7.5, 7.5,
+    2.5, 2.5,
+    2.5, 2.5,
+    1.4, 1.4,
+    2.5, 2.5,
+    5.0, 5.0
+  ]
+
+init_state:
+  default_joint_angles: [
+    0.0, 0.0, 0.0,
+    -0.5, -0.5, 0.0,
+    0.0, 0.0, 0.0,
+    1.0, 1.0,
+    0.0, 0.0,
+    -0.5, -0.5,
+    0.2, -0.2,
+    0.0, 0.0,
+    0.0, 0.0,
+    -0.3, -0.3
+  ]