65 lines
1.7 KiB
YAML
65 lines
1.7 KiB
YAML
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137k_0.6739.pt"
|
|
# 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"
|
|
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml"
|
|
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_slope.xml"
|
|
xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_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, 1.0, 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"
|
|
]
|