59 lines
1.7 KiB
Python
59 lines
1.7 KiB
Python
from legged_gym.envs.go2.go2_config import GO2Cfg, GO2CfgMoECTS
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class GO1Cfg(GO2Cfg):
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class init_state(GO2Cfg.init_state):
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pos = [0.0, 0.0, 0.34]
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class control(GO2Cfg.control):
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stiffness = {'joint': 28.0}
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damping = {'joint': 0.7}
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action_scale = 0.25
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decimation = 4
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class asset(GO2Cfg.asset):
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file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/go1/urdf/go1.urdf'
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name = 'go1'
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self_collisions = 1
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class rewards(GO2Cfg.rewards):
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base_height_target = 0.30
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class GO1CfgMoECTS(GO2CfgMoECTS):
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class runner(GO2CfgMoECTS.runner):
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experiment_name = 'go1_moe_cts'
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run_name = 'from_scratch_5000'
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max_iterations = 5000
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save_interval = 500
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resume = False
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load_run = -1
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checkpoint = -1
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resume_path = None
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class GO1StairsCfg(GO1Cfg):
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class terrain(GO1Cfg.terrain):
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# wave, slope, rough slope, stairs up, stairs down, obstacles,
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# stepping stones, gap, flat
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terrain_proportions = [0.03, 0.06, 0.03, 0.50, 0.20, 0.08, 0.0, 0.0, 0.10]
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class commands(GO1Cfg.commands):
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# The 10k checkpoint has only seen +/-0.5 m/s because the original
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# curriculum does not widen until iteration 20000. Cover the 0.8 m/s
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# RoboGauge stair command immediately during this fine-tune.
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command_range_curriculum = []
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class ranges(GO1Cfg.commands.ranges):
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lin_vel_x = [-1.0, 1.0]
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lin_vel_y = [-0.5, 0.5]
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ang_vel_yaw = [-1.0, 1.0]
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class GO1StairsCfgMoECTS(GO1CfgMoECTS):
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class runner(GO1CfgMoECTS.runner):
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experiment_name = 'go1_moe_cts'
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run_name = 'stairs_finetune_10000_to_15000'
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max_iterations = 5000
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save_interval = 500
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