First Commit

2026-03-27 16:10:51 +08:00
commit c45245038f
103 changed files with 10994 additions and 0 deletions
--- a/Deploy_Tienkung/policy/beyond_mimic/config/BeyondMimic.yaml
+++ b/Deploy_Tienkung/policy/beyond_mimic/config/BeyondMimic.yaml
@@ -0,0 +1,117 @@
+# onnx_path: "policy_fightAndSports1_s1.onnx"
+# onnx_path: "policy-dance.onnx"
+onnx_path: "lastdance_onlycom.onnx"
+warm_start_time: 0.0
+
+body_names : [
+    "pelvis",
+    "hip_pitch_l_link",
+    "hip_roll_l_link",
+    "hip_yaw_l_link",
+    "knee_pitch_l_link",
+    "ankle_pitch_l_link",
+    "ankle_roll_l_link",
+    "hip_pitch_r_link",
+    "hip_roll_r_link",
+    "hip_yaw_r_link",
+    "knee_pitch_r_link",
+    "ankle_pitch_r_link",
+    "ankle_roll_r_link",
+    "waist_yaw_link",
+    "waist_roll_link",
+    "waist_pitch_link",
+    "shoulder_pitch_l_link",
+    "elbow_pitch_l_link",
+    "shoulder_pitch_r_link",
+    "elbow_pitch_r_link",
+]
+anchor_body : "pelvis"
+
+#without motion anchor pos && anchor base lin vel
+# command :23+23+3+6  55
+# motion_anchor_ori_b: 6
+# base_ang_vel: 3
+# joint_pos（相对轴角）: 23
+# joint_vel: 23
+# actions（上一时刻动作）: 23
+# total : 133
+num_obs : 133 
+
+locked_joint_map : [
+ 0, 1, 2, 3, 4, 5,
+ 6, 7, 8, 9, 10, 11,
+ 12, 13, 14,
+ 15, 18, 
+ 22, 25 
+]
+
+kps: [
+        300, 300, 150, 350, 30, 16.8,
+        300, 300, 150, 350, 30, 16.8,
+        400, 400, 400,
+        150, 50, 50, 150,150,200,200,
+        150, 50, 50, 150,150,200,200,
+]
+kds: [
+        10, 10, 5, 10, 5.0, 2.0,
+        10, 10, 5, 10, 5.0, 2.0,
+        5, 10, 10,
+        5, 2.5, 2.5, 5,5,2,2,
+        5, 2.5, 2.5, 5,5,2,2,
+]
+# motion_length: 140 
+
+# tau_limit: [88.0,  88.0, 88.0,
+#                    88.0,  88.0, 88.0,
+#                    88.0,  88.0, 88.0,
+#                   139.0, 139.0      , 25.0, 25.0,
+#                    50.0,  50.0      , 25.0, 25.0,
+#                    50.0,  50.0      , 25.0, 25.0,
+#                                       25.0, 25.0,
+#                                        5.0,  5.0,
+#                                        5.0,  5.0,
+#                                        5.0,  5.0
+#            ]
+
+# kp_lab: [40.179, 40.179, 40.179, 99.098, 99.098, 28.501, 
+#           40.179, 40.179, 28.501, 99.098, 99.098, 14.251, 
+#           14.251, 28.501, 28.501, 14.251, 14.251, 28.501, 
+#           28.501, 14.251, 14.251, 14.251, 14.251, 14.251, 
+#           14.251, 16.778, 16.778, 16.778, 16.778]
+
+# kd_lab: [2.558, 2.558, 2.558, 6.309, 6.309, 1.814, 
+#           2.558, 2.558, 1.814, 6.309, 6.309, 0.907, 
+#           0.907, 1.814, 1.814, 0.907, 0.907, 1.814, 
+#           1.814, 0.907, 0.907, 0.907, 0.907, 0.907, 
+#           0.907, 1.068, 1.068, 1.068, 1.068]
+
+# default_angles_lab: [-0.312, -0.312, 0.0, 0.0, 0.0, 0.0, 
+#                     0.0, 0.0, 0.0, 0.669, 0.669, 0.2, 
+#                     0.2, -0.363, -0.363, 0.2, -0.2, 0.0, 
+#                     0.0, 0.0, 0.0, 0.6, 0.6, 0.0, 
+#                     0.0, 0.0, 0.0, 0.0, 0.0]
+
+# action_scale_lab: [0.548, 0.548, 0.548, 0.351, 0.351, 0.439, 
+#                   0.548, 0.548, 0.439, 0.351, 0.351, 0.439, 
+#                   0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 
+#                   0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 
+#                   0.439, 0.075, 0.075, 0.075, 0.075]
+
+num_actions: 19
+motor_nums: 29
+# num_obs: 154
+hold_final_reference: false
+
+# mj2lab: [0, 6, 12,
+#                   1, 7, 13,
+#                   2, 8, 14,
+#                   3, 9    , 15, 22,
+#                   4, 10   , 16, 23,
+#                   5, 11   , 17, 24,
+#                             18, 25,
+#                             19, 26,
+#                             20, 27,
+#                             21, 28]
+# history_length: 4
+physical_dt: 0.01
+decimation: 1