63 lines
1.6 KiB
YAML
63 lines
1.6 KiB
YAML
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt"
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# policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_cts_150k.pt"
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# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/flat.xml"
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# 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
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xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml"
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# Total simulation time
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simulation_duration: 60000000.0
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# Simulation time step
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simulation_dt: 0.002
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# Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz)
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control_decimation: 10
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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]
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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, -0.1, 0.8, -1.5,
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0.1, 1.0, -1.5, -0.1, 1.0, -1.5]
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lin_vel_scale: 2.0
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ang_vel_scale: 0.25
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dof_pos_scale: 1.0
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dof_vel_scale: 0.05
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action_scale: 0.25
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cmd_scale: [2.0, 2.0, 0.25]
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num_actions: 12
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num_obs: 45
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max_cmd: [2.0, 1.5, 2.5]
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cmd_init: [1.0, 0.0, 0.0]
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mujoco_joint_names: [
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"FL_hip_joint",
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"FL_thigh_joint",
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"FL_calf_joint",
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"FR_hip_joint",
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"FR_thigh_joint",
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"FR_calf_joint",
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"RL_hip_joint",
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"RL_thigh_joint",
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"RL_calf_joint",
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"RR_hip_joint",
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"RR_thigh_joint",
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"RR_calf_joint"
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]
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# IsaacGym is same as Mujoco joint names
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model_joint_names: [
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"FL_hip_joint",
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"FL_thigh_joint",
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"FL_calf_joint",
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"FR_hip_joint",
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"FR_thigh_joint",
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"FR_calf_joint",
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"RL_hip_joint",
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"RL_thigh_joint",
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"RL_calf_joint",
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"RR_hip_joint",
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"RR_thigh_joint",
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"RR_calf_joint"
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]
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