Init

deploy/deploy_real/configs/go2.yaml

@@ -0,0 +1,27 @@
+control_dt: 0.02
+
+msg_type: "go"     # "hg" or "go"
+imu_type: "torso"    # "torso" or "pelvis"
+
+lowcmd_topic: "rt/lowcmd"
+lowstate_topic: "rt/lowstate"
+
+policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_cts_150k.pt"
+
+joint2motor_idx: [3,4,5,0,1,2,9,10,11,6,7,8]
+
+kps: [20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20]
+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]
+obs_scales_ang_vel: 0.25
+obs_scales_dof_pos: 1.0
+obs_scales_dof_vel: 0.05
+command_scale: [3.0, 2.0, 0.5]
+
+action_scale: 0.25
+num_actions: 12
+num_obs: 45
+