motor_num: 29        # 电机数量
# actions_size: 12     # action的大小
dt: 0.01

sim: false 

debug: false

control_tool: [keyboard] # joystick, xbox, keyboard, udp_loopback

joystick:
  initial_height: 0.957
  max_height: 0.991
  min_height: 0.791
  x_command_offset: 0.0
  y_command_offset: 0.0
  yaw_command_offset: 0.0
  max_x_plus_speed: 0.8
  max_x_minus_speed: 0.5
  max_y_speed: 0.5
  max_yaw_speed: 0.8

keyboard:
  initial_height: 0.90
  forward_command_offset: 0.0
  lateral_command_offset: 0.0
  rotation_command_offset: 0
  height_step: 0.05
  max_forward_speed: 1.5
  max_lateral_speed: 0.5
  max_rotation_speed: 0.8

xbox:
  # 其他配置参数
  initial_height: 0.89
  forward_command_offset: 0.0
  lateral_command_offset: 0.0
  rotation_command_offset: 0.0
  height_step: 0.05



robot_interface:
  clip_actions: false
  waist_control_status: ["ZERO", "STOP", "WALKAMP"] #
  legs_control_status: [] #空代表都允许控制，仅腿部是这个逻辑
  arms_control_status: ["ZERO", "STOP", "WALKAMP"] #
  left_arm_only_status: []
  right_arm_only_status: []
  xsense_data_roll_offset: 0.0
  zero_pos: [
        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
      ]
  # 电流转力矩系数
  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
      ]
  disable_joints: false

  # 关节限位配置
  joint_limits:
    # 腿部关节
    l_hip_pitch:     {min: -3.14, max: 3.14}   # -180° to 180°
    l_hip_roll:      {min: -0.47, max: 2.62}   # -27° to 150°
    l_hip_yaw:       {min: -1.57, max: 4.54}   # -90° to 260°
    l_knee:          {min: -0.09, max: 2.53}   # -5° to 145°
    l_ankle_pitch:   {min: -1.22, max: 0.52}   # -70° to 30°
    l_ankle_roll:    {min: -0.52, max: 0.52}   # -30° to 30°
    
    r_hip_pitch:     {min: -3.14, max: 3.14}   # -180° to 180°
    r_hip_roll:      {min: -0.47, max: 2.62}   # -27° to 150°
    r_hip_yaw:       {min: -1.57, max: 4.54}   # -90° to 260°
    r_knee:          {min: -0.09, max: 2.53}   # -5° to 145°
    r_ankle_pitch:   {min: -1.22, max: 0.52}   # -70° to 30°
    r_ankle_roll:    {min: -0.52, max: 0.52}   # -30° to 30°
    
    # 腰部关节
    waist_yaw:       {min: -2.97, max: 3.14}   # -170° to 180°
    waist_roll:      {min: -0.52, max: 0.52}   # -30° to 30°
    waist_pitch:     {min: -0.52, max: 1.05}   # -30° to 60°
    
    # 左臂关节
    l_shoulder_pitch: {min: -2.97, max: 2.97}  # -170° to 170°
    l_shoulder_roll:  {min: -0.26, max: 3.40}  # -15° to 195°
    l_shoulder_yaw:   {min: -2.97, max: 2.97}  # -170° to 170°
    l_elbow:          {min: -2.62 , max: 0.26}  # -150° to 15°
    l_wrist_yaw:      {min: -2.97, max: 2.97}  # -170° to 170°
    l_wrist_pitch:    {min: -1.31, max: 1.40}  # -75° to 80°
    l_wrist_roll:     {min: -1.05, max: 0.79}  # -60° to 45°
    
    # 右臂关节
    r_shoulder_pitch: {min: -2.97, max: 2.97}  # -170° to 170°
    r_shoulder_roll:  {min: -3.40, max: 0.26}  # -195° to 15°
    r_shoulder_yaw:   {min: -2.97, max: 2.97}  # -170° to 170°
    r_elbow:          {min: -2.62, max: 0.26}  # -150° to 15°
    r_wrist_yaw:      {min: -2.97, max: 2.97}  # -170° to 170°
    r_wrist_pitch:    {min: -1.31, max: 1.40}  # -75° to 80°
    r_wrist_roll:     {min: -0.79, max: 1.05}  # -45° to 60°

  # 脚踝并联关节Kp,Kd
  ankle_kp_p: [15.0, 15.0, 15.0, 15.0] # ankle_pitch_left, ankle_roll_left, ankle_pitch_right, ankle_roll_right
  ankle_kd_p: [1.25, 1.25, 1.25, 1.25]