31 lines
533 B
YAML
31 lines
533 B
YAML
onnx_path: "policy_gui6_1.onnx"
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motor_nums: 29
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interp_step: 0.01
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interp_max: 1.0
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locked_joint_map : [
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0, 1, 2, 3, 4, 5,
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6, 7, 8, 9, 10, 11,
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12, 13, 14,
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15, 16, 17, 18,
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22, 23, 24, 25
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]
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kps: [
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400, 400, 250, 350, 30, 16.8,
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400, 400, 250, 350, 30, 16.8,
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400, 400, 400,
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150, 50, 50, 150,150,200,200,
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150, 50, 50, 150,150,200,200,
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]
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kds: [
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10, 10, 5, 10, 2.5, 1.4,
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10, 10, 5, 10, 2.5, 1.4,
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5, 10, 10,
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5, 2.5, 2.5, 5,5,2,2,
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5, 2.5, 2.5, 5,5,2,2,
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]
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