22 lines
853 B
Plaintext
22 lines
853 B
Plaintext
# Go1 Flat Terrain Walk - ONNX Policy Metadata
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obs_dim: 45
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action_dim: 12
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hidden_dims: [256, 128, 64]
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observation_layout: gyro(3) + gravity(3) + joint_angle(12) + joint_vel(12) + last_action(12) + command(3)
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- NO linear velocity in observation
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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 (applied BEFORE ONNX normalization):
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lin_vel: 2.0
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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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command_scale: [2.0, 2.0, 0.25] # for [vx, vy, wz]
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