First Commit

Deploy_Tienkung/policy/beyondzero/config/beyondzero.yaml

@@ -0,0 +1,30 @@
+onnx_path: "policy_gui6_1.onnx"
+
+motor_nums: 29
+interp_step: 0.01
+interp_max: 1.0
+
+locked_joint_map : [
+ 0, 1, 2, 3, 4, 5,
+ 6, 7, 8, 9, 10, 11,
+ 12, 13, 14,
+ 15, 16, 17, 18,
+ 22, 23, 24, 25
+]
+
+kps: [
+        400, 400, 250, 350, 30, 16.8,
+        400, 400, 250, 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, 2.5, 1.4,
+        10, 10, 5, 10, 2.5, 1.4,
+        5, 10, 10,
+        5, 2.5, 2.5, 5,5,2,2,
+        5, 2.5, 2.5, 5,5,2,2,
+]
+