30 lines
1.0 KiB
Plaintext
30 lines
1.0 KiB
Plaintext
# Go1 No-Linevel Terrain Walk - ONNX Policy Metadata
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env: go1-stairs-terrain-walk-no-linevel
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obs_dim: 57
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action_dim: 12
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hidden_dims: [512, 256, 128]
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# Observation layout (57 dims, NO linear velocity):
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[0:3] gyro * ang_vel_scale
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[3:6] gravity (body frame)
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[6:18] joint_angle_deviation * dof_pos_scale
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[18:30] joint_vel * dof_vel_scale
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[30:42] last_actions (raw)
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[42:45] commands [vx*2.0, vy*2.0, wz*0.25]
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[45:57] foot_contact_forces (body frame, raw)
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# Joint order: ['FR_hip', 'FR_thigh', 'FR_calf', 'FL_hip', 'FL_thigh', 'FL_calf', 'RR_hip', 'RR_thigh', 'RR_calf', 'RL_hip', 'RL_thigh', 'RL_calf']
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default_angles: [-0.0, 0.8999999761581421, -1.7999999523162842, 0.0, 0.8999999761581421, -1.7999999523162842, -0.0, 0.8999999761581421, -1.7999999523162842, 0.0, 0.8999999761581421, -1.7999999523162842]
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action_scale: 0.05
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kp: 80.0
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kd: 1.0
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clip_actions: 23.7
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clip_observations: 100.0
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# Observation scales:
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ang_vel: 0.25
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dof_pos: 1.0
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dof_vel: 0.05
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contact_force: 1.0
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command_scale: [2.0, 2.0, 0.25]
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