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meiqi
2026-03-27 16:10:51 +08:00
commit c45245038f
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Deploy_Tienkung/policy/stop/config/stop.yaml Normal file
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motor_num: 29 # 电机数量
actions_size: 12 # action的大小
dt: 0.002
xsense_data_roll_offset: 0.0
zero_pos_offset: [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
]
ct_scale: [
2.1, 2.1, 3.207, 2.673, 2.6, 2.6,
2.1, 2.1, 3.207, 2.673, 2.6, 2.6,
3.207, 3.207, 3.207, #
3.207, 2.28, 5.89, 5.89, 3.35, 2.3, 2.3,
3.207, 2.28, 5.89, 5.89, 3.35, 2.3, 2.3
]
kp_pos:
[1000, 2000, 2000, 1000, 50, 50, #left legs
1000, 2000, 2000, 1000, 50, 50,
1500.0, 1500.0, 1000.0,
200.0, 200.0, 200.0, 200.0, 80.0, 80.0, 80.0,
200.0, 200.0, 200.0, 200.0, 80.0, 80.0, 80.0
]
kd_pos:
[30, 70, 70, 30, 3, 1, #left legs
30, 70, 70, 30, 3, 1, # right legs
70.0, 70.0, 50.0, # 腰
15, 15, 15.0, 15.0, 5.0, 5.0, 5.0,
15, 15, 15.0, 15.0, 5.0, 5.0, 5.0
]