114 lines
2.5 KiB
YAML
114 lines
2.5 KiB
YAML
can1_port: "can0"
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can2_port: "can1"
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motor_model: "rs-02"
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debug: false
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control_freq: 50
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policy_freq: 50
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motor_freq: 200
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status_freq: 10
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policy_stale_warn_ms: 60.0
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policy_timeout_ms: 150.0
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imu_lib_path: null
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controller:
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# Runtime policy gains should stay softer than stand/startup gains. This
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# follows the same separation used by rl_sar fixed_kp/fixed_kd vs rl_kp/rl_kd
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# and avoids high-stiffness zero-command oscillation after policy release.
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kp_leg: 50.0
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kd_leg: 1.5
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hold_kp_leg: 80.0
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hold_kd_leg: 4.0
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kd_wheel: 1.0
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max_vx: 0.8
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max_vy: 0.3
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max_yaw_rate: 0.5
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policy:
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enable_zero_cmd_suppression: true
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hold_zero_command_pose: true
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command_release_s: 0.35
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require_active_command_to_release: true
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zero_cmd_use_yaw_rate: false
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clip_obs: 100.0
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action_scale: [0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 5.0, 5.0, 5.0, 5.0]
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release_command_hold_s: 0.12
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release_posture_max_err: 0.35
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release_target_blend_s: 0.30
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stand_balance:
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enabled: true
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height: 0.33
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kp_roll: 0.85
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pitch_compensation_enabled: false
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kp_pitch: 0.25
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kd_roll_rate: 0.03
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kd_pitch_rate: 0.03
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pitch_deadband_deg: 2.0
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pitch_corr_clip: 0.04
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pitch_corr_filter_alpha: 0.10
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pitch_front_sign: -1.0
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lateral_lean_gain: 0.0
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hip_abduction_clip: 0.45
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hip_pitch_clip: [-1.0, 2.5]
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knee_clip: [-2.6, -0.3]
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stable_roll_deg: 6.0
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stable_pitch_deg: 8.0
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stable_gyro_deg_s: 45.0
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enter_hold_s: 1.0
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profile_h: [0.157, 0.248, 0.311, 0.366, 0.411, 0.448]
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profile_hip: [1.5, 1.2, 1.0, 0.8, 0.6, 0.4]
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profile_knee: [-2.5, -2.1, -1.8, -1.5, -1.2, -0.9]
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startup:
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enabled: true
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wait_for_enter_before_rise: false
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soft_hold_duration: 1.0
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ramp_kp_time: 1.0
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transition_time_min: 2.0
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transition_time_max: 6.0
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transition_seconds_per_rad: 1.5
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timeout_extra: 3.0
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imu_fresh_wait_s: 1.0
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hold_time: 1.0
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settle_pos_threshold: 0.30
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settle_vel_threshold: 0.6
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progress_log_interval: 0.5
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max_dev_warn: 1.5
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max_dev_abort: 3.0
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require_user_confirm: true
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safety:
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enabled: true
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max_target_offset: 0.6
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hard_target_offset: 1.2
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max_ang_vel: 10.0
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max_tilt_z: -0.3
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clip_to_brake: 0
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imu_age_warn_ms: 60.0
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imu_age_stop_ms: 200.0
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remote:
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enabled: true
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port: "/dev/ttyACM0"
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baudrate: 100000
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timeout: 0.02
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axis_deadzone: 50
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active_threshold: 50
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axis_full_scale: 660.0
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max_vx: 0.3
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max_vy: 0.3
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max_yaw_rate: 0.3
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invert_vx: true
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invert_vy: false
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invert_yaw: true
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command_filter:
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enabled: true
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max_vx_acc: 1.0
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max_vy_acc: 1.0
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max_yaw_acc: 1.5
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log_dir: "logs"
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log_every: 1
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