model_path: "policy.onnx" 
motor_num: 29        # 电机数量
actions_size: 23     # action的大小
dt: 0.01
warm_start_time: 0.0
xsense_data_roll_offset: 0.0
joint_names: [
  hip_pitch_l_joint, hip_pitch_r_joint, waist_yaw_joint,
  hip_roll_l_joint, hip_roll_r_joint, waist_roll_joint,
  hip_yaw_l_joint, hip_yaw_r_joint, waist_pitch_joint,
  knee_pitch_l_joint, knee_pitch_r_joint,
  shoulder_pitch_l_joint, shoulder_pitch_r_joint,
  ankle_pitch_l_joint, ankle_pitch_r_joint,
  shoulder_roll_l_joint, shoulder_roll_r_joint,
  ankle_roll_l_joint, ankle_roll_r_joint,
  shoulder_yaw_l_joint, shoulder_yaw_r_joint,
  elbow_pitch_l_joint, elbow_pitch_r_joint
]
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, #TODO:待更新 pry
          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
    ]
control:
  # gait_cycle_period: 0.9
  action_scale: 0.25               # 动作缩放比例，可写标量或 23 维数组
  decimation: 1                   # 策略下发频率控制

gait:
  gait_air_ratio_l: 0.38
  gait_air_ratio_r: 0.38
  gait_phase_offset_l: 0.38
  gait_phase_offset_r: 0.88
  gait_cycle: 0.85

normalization:
  clip_scales:
    clip_observations: 100. #18.0mlp
    clip_actions: 100. #18.0
  obs_scales:
    lin_vel: 1.0                  # 线速度缩放因子
    ang_vel: 1.0                  # 角速度缩放因子
    dof_pos: 1.0                  # 关节位置缩放因子
    dof_vel: 1.0                  # 关节速度缩放因子

size:
  num_hist: 10                     # 历史观测帧数
  observations_size: 84          # 单帧观测长度

gains:
  kp: [
    300.0, 300.0, 400.0,
    300.0, 300.0, 400.0,
    150.0, 150.0, 400.0,
    350.0, 350.0,
    150.0, 150.0,
    30.0, 30.0,
    50.0, 50.0,
    16.8, 16.8,
    50.0, 50.0,
    150.0, 150.0
  ]
  kd: [
    10.0, 10.0, 5.0,
    10.0, 10.0, 10.0,
    5.0, 5.0, 10.0,
    10.0, 10.0,
    7.5, 7.5,
    2.5, 2.5,
    2.5, 2.5,
    1.4, 1.4,
    2.5, 2.5,
    5.0, 5.0
  ]


init_state:
  default_joint_angles: [
    -0.15, -0.15, 0.0,
    0.0, 0.0, 0.0,
    -0.0, -0.0, 0.0,
    0.3, 0.3,
    0.2, 0.2,
    -0.15, -0.15,
    0.1, -0.1,
    0.0, 0.0,
    0.0, 0.0,
    -0.5, -0.5
  ]