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