57 lines
1.5 KiB
JSON
57 lines
1.5 KiB
JSON
{
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"_description": "Tunables for motion/* modules. Loaded via core.config_loader.load('motion').",
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"arm_controller": {
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"_comment": "motion/arm_controller.py — enable_arm_sdk_index + replay_hz come from core.g1_hardware",
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"ramp_in_steps": 60,
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"ramp_out_steps": 180,
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"settle_hold_sec": 0.5,
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"watchdog_timeout_sec": 0.25,
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"watchdog_disable_after_sec": 1.0,
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"arm_indices_start": 15,
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"arm_indices_stop": 29,
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"jsonl_id_start": 100
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},
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"macro_player": {
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"_comment": "motion/macro_player.py — JSONL playback",
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"ramp_in_steps": 60,
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"ramp_out_steps": 60,
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"watchdog_disable_after_sec": 1.0
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},
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"macro_recorder": {
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"_comment": "motion/macro_recorder.py — record arm trajectories",
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"sample_rate_hz": 60.0,
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"smoothing_window": 5
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},
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"teaching": {
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"_comment": "motion/teaching.py — teach-by-demo",
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"safe_hold_sec": 3.0,
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"waist_kp": 60.0,
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"waist_kd": 4.0,
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"hold_arm_kp": 60.0,
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"hold_arm_kd": 4.0,
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"teach_arm_kp": 0.0,
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"teach_arm_kd": 2.0
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},
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"sanad_arm_controller": {
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"_comment": "motion/sanad_arm_controller.py — g1_num_motor + enable_arm_sdk_index + replay_hz come from core.g1_hardware",
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"action_cooldown_sec": 1.0,
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"stability_threshold": 0.06,
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"gains": {
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"kp_high": 300.0,
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"kd_high": 3.0,
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"kp_low": 80.0,
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"kd_low": 3.0,
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"kp_wrist": 40.0,
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"kd_wrist": 1.5
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},
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"weak_motors": [4, 10, 15, 16, 17, 18, 22, 23, 24, 25],
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"wrist_motors": [19, 20, 21, 26, 27, 28],
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"data_subdir": "DataG1"
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}
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}
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