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@@ -0,0 +1,31 @@
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+# guguji 真机低速前进过渡测试配置
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+# 用途：全承重站立稳定后，先用 forward_transition 模型做 1~3 秒短时前进试探。
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+
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+network:
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+ esp32_host: 192.168.4.1
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+ command_port: 7777
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+ telemetry_bind_host: 0.0.0.0
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+ telemetry_port: 7778
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+ telemetry_timeout_s: 1.0
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+
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+control:
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+ # 比站立略强，但比 walk_cautious 更保守，优先观察脚步方向和身体姿态。
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+ kp: [18.0, 22.0, 15.0, 10.0, 18.0, 22.0, 15.0, 10.0]
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+ kd: [0.40, 0.50, 0.38, 0.28, 0.40, 0.50, 0.38, 0.28]
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+
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+safety:
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+ max_joint_step_rad: 0.010
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+ max_roll_rad: 0.60
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+ max_pitch_rad: 0.60
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+ max_joint_velocity_rad_s: 2.2
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+ arm_position_limit_margin_rad: 0.08
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+ run_position_limit_margin_rad: 0.14
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+
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+state_estimation:
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+ estimated_base_height_m: 0.35
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+ estimated_forward_velocity_m_s: 0.0
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+ # forward_transition 模型训练目标速度为 0.05m/s，真机首次前进从这里开始。
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+ target_forward_velocity_m_s: 0.05
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+
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+logging:
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+ status_interval_s: 0.2
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