75 lines
1.6 KiB
YAML
75 lines
1.6 KiB
YAML
can1_port: "/dev/can1"
|
|
can2_port: "/dev/can2"
|
|
motor_model: "rs-02"
|
|
debug: false
|
|
|
|
control_freq: 50
|
|
imu_lib_path: null
|
|
|
|
controller:
|
|
kp_leg: 80.0
|
|
kd_leg: 2.5
|
|
kd_wheel: 2.0
|
|
max_vx: 0.8
|
|
max_vy: 0.3
|
|
max_yaw_rate: 0.5
|
|
|
|
policy:
|
|
enable_zero_cmd_suppression: true
|
|
hold_zero_command_pose: true
|
|
command_release_s: 0.35
|
|
require_active_command_to_release: true
|
|
zero_cmd_use_yaw_rate: false
|
|
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]
|
|
release_command_hold_s: 0.12
|
|
release_posture_max_err: 0.35
|
|
release_target_blend_s: 0.30
|
|
|
|
stand_balance:
|
|
enabled: true
|
|
height: 0.33
|
|
kp_roll: 0.85
|
|
kp_pitch: 0.70
|
|
kd_roll_rate: 0.03
|
|
kd_pitch_rate: 0.025
|
|
lateral_lean_gain: 0.0
|
|
hip_abduction_clip: 0.45
|
|
hip_pitch_clip: [-1.0, 2.5]
|
|
knee_clip: [-2.6, -0.3]
|
|
stable_roll_deg: 6.0
|
|
stable_pitch_deg: 8.0
|
|
stable_gyro_deg_s: 45.0
|
|
enter_hold_s: 1.0
|
|
profile_h: [0.157, 0.248, 0.311, 0.366, 0.411, 0.448]
|
|
profile_hip: [1.5, 1.2, 1.0, 0.8, 0.6, 0.4]
|
|
profile_knee: [-2.5, -2.1, -1.8, -1.5, -1.2, -0.9]
|
|
|
|
startup:
|
|
enabled: true
|
|
wait_for_enter_before_rise: false
|
|
soft_hold_duration: 1.0
|
|
ramp_kp_time: 1.0
|
|
transition_time_min: 2.0
|
|
transition_time_max: 6.0
|
|
transition_seconds_per_rad: 1.5
|
|
timeout_extra: 3.0
|
|
hold_time: 1.0
|
|
settle_pos_threshold: 0.30
|
|
settle_vel_threshold: 0.6
|
|
progress_log_interval: 0.5
|
|
max_dev_warn: 1.5
|
|
max_dev_abort: 3.0
|
|
require_user_confirm: true
|
|
|
|
safety:
|
|
enabled: true
|
|
max_target_offset: 0.6
|
|
max_ang_vel: 10.0
|
|
max_tilt_z: -0.3
|
|
clip_to_brake: 3
|
|
imu_age_warn_ms: 60.0
|
|
imu_age_stop_ms: 200.0
|
|
|
|
log_dir: "logs"
|
|
log_every: 1
|