111 lines
3.8 KiB
YAML
111 lines
3.8 KiB
YAML
motor_num: 29 # 电机数量
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# actions_size: 12 # action的大小
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dt: 0.01
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sim: false
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debug: false
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control_tool: udp_loopback # joystick, xbox, keyboard, udp_loopback
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joystick:
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initial_height: 0.957
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max_height: 0.991
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min_height: 0.791
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x_command_offset: 0.0
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y_command_offset: 0.0
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yaw_command_offset: 0.0
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max_x_plus_speed: 0.8
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max_x_minus_speed: 0.5
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max_y_speed: 0.5
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max_yaw_speed: 0.8
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keyboard:
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initial_height: 0.90
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forward_command_offset: 0.0
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lateral_command_offset: 0.0
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rotation_command_offset: 0
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height_step: 0.05
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max_forward_speed: 1.5
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max_lateral_speed: 0.5
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max_rotation_speed: 0.8
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xbox:
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# 其他配置参数
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initial_height: 0.89
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forward_command_offset: 0.0
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lateral_command_offset: 0.0
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rotation_command_offset: 0.0
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height_step: 0.05
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robot_interface:
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clip_actions: false
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waist_control_status: ["ZERO", "STOP", "WALKAMP", "MYPOLICY", "XSIMRUN"] #
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legs_control_status: [] #空代表都允许控制，仅腿部是这个逻辑
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arms_control_status: ["ZERO", "STOP", "WALKAMP", "MYPOLICY", "XSIMRUN"] #
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left_arm_only_status: []
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right_arm_only_status: []
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xsense_data_roll_offset: 0.0
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zero_pos: [
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
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]
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# 电流转力矩系数
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ct_scale: [
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2.1, 2.1, 3.207, 2.673, 2.6, 2.6,
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2.1, 2.1, 3.207, 2.673, 2.6, 2.6,
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3.207, 3.207, 3.207,
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3.207, 2.28, 5.89, 5.89, 3.35, 2.3, 2.3,
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3.207, 2.28, 5.89, 5.89, 3.35, 2.3, 2.3
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]
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disable_joints: false
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# 关节限位配置
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joint_limits:
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# 腿部关节
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l_hip_pitch: {min: -3.14, max: 3.14} # -180° to 180°
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l_hip_roll: {min: -0.47, max: 2.62} # -27° to 150°
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l_hip_yaw: {min: -1.57, max: 4.54} # -90° to 260°
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l_knee: {min: -0.09, max: 2.53} # -5° to 145°
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l_ankle_pitch: {min: -1.22, max: 0.52} # -70° to 30°
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l_ankle_roll: {min: -0.52, max: 0.52} # -30° to 30°
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r_hip_pitch: {min: -3.14, max: 3.14} # -180° to 180°
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r_hip_roll: {min: -0.47, max: 2.62} # -27° to 150°
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r_hip_yaw: {min: -1.57, max: 4.54} # -90° to 260°
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r_knee: {min: -0.09, max: 2.53} # -5° to 145°
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r_ankle_pitch: {min: -1.22, max: 0.52} # -70° to 30°
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r_ankle_roll: {min: -0.52, max: 0.52} # -30° to 30°
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# 腰部关节
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waist_yaw: {min: -2.97, max: 3.14} # -170° to 180°
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waist_roll: {min: -0.52, max: 0.52} # -30° to 30°
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waist_pitch: {min: -0.52, max: 1.05} # -30° to 60°
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# 左臂关节
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l_shoulder_pitch: {min: -2.97, max: 2.97} # -170° to 170°
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l_shoulder_roll: {min: -0.26, max: 3.40} # -15° to 195°
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l_shoulder_yaw: {min: -2.97, max: 2.97} # -170° to 170°
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l_elbow: {min: -2.62 , max: 0.26} # -150° to 15°
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l_wrist_yaw: {min: -2.97, max: 2.97} # -170° to 170°
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l_wrist_pitch: {min: -1.31, max: 1.40} # -75° to 80°
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l_wrist_roll: {min: -1.05, max: 0.79} # -60° to 45°
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# 右臂关节
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r_shoulder_pitch: {min: -2.97, max: 2.97} # -170° to 170°
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r_shoulder_roll: {min: -3.40, max: 0.26} # -195° to 15°
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r_shoulder_yaw: {min: -2.97, max: 2.97} # -170° to 170°
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r_elbow: {min: -2.62, max: 0.26} # -150° to 15°
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r_wrist_yaw: {min: -2.97, max: 2.97} # -170° to 170°
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r_wrist_pitch: {min: -1.31, max: 1.40} # -75° to 80°
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r_wrist_roll: {min: -0.79, max: 1.05} # -45° to 60°
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# 脚踝并联关节Kp,Kd
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ankle_kp_p: [15.0, 15.0, 15.0, 15.0] # ankle_pitch_left, ankle_roll_left, ankle_pitch_right, ankle_roll_right
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ankle_kd_p: [1.25, 1.25, 1.25, 1.25]
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