40 lines
1.1 KiB
YAML
40 lines
1.1 KiB
YAML
motor_num: 29 # 电机数量
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actions_size: 12 # action的大小
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zero_positions: [
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-0.25, 0, 0, 0.5, -0.25, 0.0, # 左腿
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-0.25, 0, 0, 0.5, -0.25, 0.0, # 右腿
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0.0, 0.0, 0.0, # 腰
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0.0, 0.3, 0.0, -0.3, 0.0, 0.0, 0.0, # 左臂
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0.0, -0.3, 0.0, -0.3, 0.0, 0.0, 0.0, # 右臂
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]
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zero_positions_height: [
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-0.4, 0.0, 0, 0.8, -0.4, 0.0, # 左腿
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-0.4, 0.0, 0, 0.8, -0.4, 0.0, # 右腿
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0.05, 0.08, 0.11, # 腰
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0.0, 0.3, 0.0, -0.3, 0.0, 0.0, 0.0, # 左臂
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0.0, -0.3, 0.0, -0.3, 0.0, 0.0, 0.0, # 右臂
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]
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kp_pos:
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[1000, 2000, 2000, 1000, 50, 50, #left legs
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1000, 2000, 2000, 1000, 50, 50,
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1500.0, 1500.0, 1000.0,
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200.0, 200.0, 200.0, 200.0, 80.0, 80.0, 80.0,
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200.0, 200.0, 200.0, 200.0, 80.0, 80.0, 80.0
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]
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kd_pos:
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[30, 70, 70, 30, 3, 1, #left legs
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30, 70, 70, 30, 3, 1, # right legs
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70.0, 70.0, 50.0, # 腰
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15, 15, 15.0, 15.0, 5.0, 5.0, 5.0,
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15, 15, 15.0, 15.0, 5.0, 5.0, 5.0
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]
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interp_step: 0.001 # 控制插值速度
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interp_max: 0.9
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