清理多余策略

Deploy_Tienkung/FSM/fsm_base.py

@@ -14,8 +14,6 @@ class FSMStateName(Enum):
     STOP = 0      # 停止状态
     ZERO = 1      # 零位状态
     WALKAMP = 2   # WALKAMP策略状态
-    MYPOLICY = 3  # 自定义策略状态
-    XSIMRUN = 4   # 更贴近sim2sim的xSIM run状态
 
 class FSMState(ABC):
     """FSM状态抽象基类"""

Deploy_Tienkung/FSM/robot_fsm.py

@@ -5,8 +5,6 @@ Complete FSM implementation with state management
 from typing import Dict
 from .fsm_base import RobotFSM, FSMStateName
 from policy.walk_amp.fsm_walkamp import FSMStateWALKAMP
-from policy.mypolicy.fsm_mypolicy import FSMStateMYPOLICY
-from policy.xsim_run.fsm_xsim_run import FSMStateXSIMRUN
 from policy.zero.fsm_zero import FSMStateZero
 from policy.stop.fsm_stop import FSMStateStop
 from policy.beyond_mimic.fsm_beyond_mimic import FSMStateBeyondMimic
@@ -52,8 +50,6 @@ class RobotFSMImpl(RobotFSM):
         self.state_objects[FSMStateName.STOP] = FSMStateStop(self.robot_data_)
         self.state_objects[FSMStateName.ZERO] = FSMStateZero(self.robot_data_)
         self.state_objects[FSMStateName.WALKAMP] = FSMStateWALKAMP(self.robot_data_)
-        self.state_objects[FSMStateName.MYPOLICY] = FSMStateMYPOLICY(self.robot_data_)
-        self.state_objects[FSMStateName.XSIMRUN] = FSMStateXSIMRUN(self.robot_data_)
 
         # TODO: 添加其他状态对象
     @timing_decorator