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/zero/config/zero.yaml
+++ b/Deploy_Tienkung/policy/zero/config/zero.yaml
@@ -0,0 +1,39 @@
+motor_num: 29        # 电机数量
+actions_size: 12     # action的大小
+
+zero_positions: [
+    -0.25, 0, 0, 0.5, -0.25, 0.0,   # 左腿
+    -0.25, 0, 0, 0.5, -0.25, 0.0,   # 右腿
+    0.0, 0.0, 0.0,                   # 腰
+    0.0, 0.3, 0.0, -0.3, 0.0, 0.0, 0.0, # 左臂
+    0.0, -0.3, 0.0, -0.3, 0.0, 0.0, 0.0, # 右臂
+    ]  
+    
+zero_positions_height: [
+    -0.4, 0.0, 0, 0.8, -0.4, 0.0,   # 左腿
+    -0.4, 0.0, 0, 0.8, -0.4, 0.0,   # 右腿
+    0.05, 0.08, 0.11,                   # 腰
+    0.0, 0.3, 0.0, -0.3, 0.0, 0.0, 0.0, # 左臂
+    0.0, -0.3, 0.0, -0.3, 0.0, 0.0, 0.0, # 右臂
+    ]  
+
+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
+  ]  
+
+
+
+interp_step: 0.001 #  控制插值速度
+interp_max: 0.9