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
  ]