38 lines
976 B
YAML
38 lines
976 B
YAML
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motor_num: 29 # 电机数量
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actions_size: 12 # action的大小
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dt: 0.002
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xsense_data_roll_offset: 0.0
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zero_pos_offset: [
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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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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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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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