Init

deploy/deploy_mujoco/configs/go2.yaml

@@ -0,0 +1,61 @@
+policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_cts_150k.pt"
+
+# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/flat.xml"
+# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/race_track.xml"  # change go2 init pos to pos="-5 2 0.445" in resources/robots/go2/go2.xml
+xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml"
+
+# Total simulation time
+simulation_duration: 60000000.0
+# Simulation time step
+simulation_dt: 0.002
+# Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz)
+control_decimation: 10
+
+kps: [20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0] 
+kds: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] 
+
+default_angles: [0.1,  0.8,  -1.5,  -0.1, 0.8, -1.5, 
+                 0.1,  1.0,  -1.5,  -0.1, 1.0, -1.5] 
+
+lin_vel_scale: 2.0
+ang_vel_scale: 0.25 
+dof_pos_scale: 1.0 
+dof_vel_scale: 0.05 
+action_scale: 0.25 
+cmd_scale: [2.0, 2.0, 0.25]
+num_actions: 12
+num_obs: 45
+max_cmd: [2.0, 1.5, 2.5]
+
+cmd_init: [1.0, 0.0, 0.0]
+
+mujoco_joint_names: [
+  "FL_hip_joint",
+  "FL_thigh_joint",
+  "FL_calf_joint",
+  "FR_hip_joint",
+  "FR_thigh_joint",
+  "FR_calf_joint",
+  "RL_hip_joint",
+  "RL_thigh_joint",
+  "RL_calf_joint",
+  "RR_hip_joint",
+  "RR_thigh_joint",
+  "RR_calf_joint"
+]
+
+# IsaacGym is same as Mujoco joint names
+model_joint_names: [
+  "FL_hip_joint",
+  "FL_thigh_joint",
+  "FL_calf_joint",
+  "FR_hip_joint",
+  "FR_thigh_joint",
+  "FR_calf_joint",
+  "RL_hip_joint",
+  "RL_thigh_joint",
+  "RL_calf_joint",
+  "RR_hip_joint",
+  "RR_thigh_joint",
+  "RR_calf_joint"
+]