# onnx_path: "policy_fightAndSports1_s1.onnx"
# onnx_path: "policy-dance.onnx"
onnx_path: "lastdance_onlycom.onnx"
warm_start_time: 0.0

body_names : [
    "pelvis",
    "hip_pitch_l_link",
    "hip_roll_l_link",
    "hip_yaw_l_link",
    "knee_pitch_l_link",
    "ankle_pitch_l_link",
    "ankle_roll_l_link",
    "hip_pitch_r_link",
    "hip_roll_r_link",
    "hip_yaw_r_link",
    "knee_pitch_r_link",
    "ankle_pitch_r_link",
    "ankle_roll_r_link",
    "waist_yaw_link",
    "waist_roll_link",
    "waist_pitch_link",
    "shoulder_pitch_l_link",
    "elbow_pitch_l_link",
    "shoulder_pitch_r_link",
    "elbow_pitch_r_link",
]
anchor_body : "pelvis"

#without motion anchor pos && anchor base lin vel
# command :23+23+3+6  55
# motion_anchor_ori_b: 6
# base_ang_vel: 3
# joint_pos（相对轴角）: 23
# joint_vel: 23
# actions（上一时刻动作）: 23
# total : 133
num_obs : 133 

locked_joint_map : [
 0, 1, 2, 3, 4, 5,
 6, 7, 8, 9, 10, 11,
 12, 13, 14,
 15, 18, 
 22, 25 
]

kps: [
        300, 300, 150, 350, 30, 16.8,
        300, 300, 150, 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, 5.0, 2.0,
        10, 10, 5, 10, 5.0, 2.0,
        5, 10, 10,
        5, 2.5, 2.5, 5,5,2,2,
        5, 2.5, 2.5, 5,5,2,2,
]
# motion_length: 140 

# tau_limit: [88.0,  88.0, 88.0,
#                    88.0,  88.0, 88.0,
#                    88.0,  88.0, 88.0,
#                   139.0, 139.0      , 25.0, 25.0,
#                    50.0,  50.0      , 25.0, 25.0,
#                    50.0,  50.0      , 25.0, 25.0,
#                                       25.0, 25.0,
#                                        5.0,  5.0,
#                                        5.0,  5.0,
#                                        5.0,  5.0
#            ]

# kp_lab: [40.179, 40.179, 40.179, 99.098, 99.098, 28.501, 
#           40.179, 40.179, 28.501, 99.098, 99.098, 14.251, 
#           14.251, 28.501, 28.501, 14.251, 14.251, 28.501, 
#           28.501, 14.251, 14.251, 14.251, 14.251, 14.251, 
#           14.251, 16.778, 16.778, 16.778, 16.778]

# kd_lab: [2.558, 2.558, 2.558, 6.309, 6.309, 1.814, 
#           2.558, 2.558, 1.814, 6.309, 6.309, 0.907, 
#           0.907, 1.814, 1.814, 0.907, 0.907, 1.814, 
#           1.814, 0.907, 0.907, 0.907, 0.907, 0.907, 
#           0.907, 1.068, 1.068, 1.068, 1.068]

# default_angles_lab: [-0.312, -0.312, 0.0, 0.0, 0.0, 0.0, 
#                     0.0, 0.0, 0.0, 0.669, 0.669, 0.2, 
#                     0.2, -0.363, -0.363, 0.2, -0.2, 0.0, 
#                     0.0, 0.0, 0.0, 0.6, 0.6, 0.0, 
#                     0.0, 0.0, 0.0, 0.0, 0.0]

# action_scale_lab: [0.548, 0.548, 0.548, 0.351, 0.351, 0.439, 
#                   0.548, 0.548, 0.439, 0.351, 0.351, 0.439, 
#                   0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 
#                   0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 
#                   0.439, 0.075, 0.075, 0.075, 0.075]

num_actions: 19
motor_nums: 29
# num_obs: 154
hold_final_reference: false

# mj2lab: [0, 6, 12,
#                   1, 7, 13,
#                   2, 8, 14,
#                   3, 9    , 15, 22,
#                   4, 10   , 16, 23,
#                   5, 11   , 17, 24,
#                             18, 25,
#                             19, 26,
#                             20, 27,
#                             21, 28]
# history_length: 4
physical_dt: 0.01
decimation: 1