39 lines
1.2 KiB
Python
39 lines
1.2 KiB
Python
# -*- coding: utf-8 -*-
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"""Go1 configuration for the RoboGauge MuJoCo evaluator."""
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from robogauge.tasks.robots.go2.go2_config import Go2Config
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class Go1Config(Go2Config):
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robot_name = 'go1'
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robot_class = 'Go1'
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class assets(Go2Config.assets):
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robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go1/go1.xml"
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foot_geom_names = ['FR', 'FL', 'RR', 'RL']
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class control(Go2Config.control):
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model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go1/policy.pt"
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control_dt = 0.02
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p_gains = [28.0] * 12
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d_gains = [0.7] * 12
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# Both this MuJoCo model and the trained policy use FR, FL, RR, RL.
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# Go1Robot permuted Isaac Gym's FL, FR, RL, RR asset state into this
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# order during training, so applying that permutation again here
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# would swap every left/right leg pair.
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default_dof_pos = [
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-0.1, 0.8, -1.5,
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0.1, 0.8, -1.5,
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-0.1, 1.0, -1.5,
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0.1, 1.0, -1.5,
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]
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mj2model_dof_indices = list(range(12))
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class Go1TerrainConfig(Go1Config):
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class commands(Go1Config.commands):
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lin_vel_x = [-1.0, 1.0]
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lin_vel_y = [-1.0, 1.0]
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ang_vel_yaw = [-1.5, 1.5]
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