44 lines
1.2 KiB
YAML
44 lines
1.2 KiB
YAML
policy_path: "{ROOT_DIR}/deploy/pre_train/go1/policy.pt"
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xml_path: "{ROOT_DIR}/resources/go1/stairs_and_slope.xml"
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render_fps: 300
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video_fps: 60
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save_video: false
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simulation_duration: 60000000.0
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simulation_dt: 0.002
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control_decimation: 10
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base_init_pos: [0.0, 0.0, 0.34]
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base_init_quat: [1.0, 0.0, 0.0, 0.0]
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# Deployment defaults to no extra delay. Training randomizes 0-4 physics steps;
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# this script's delay buffer is measured in 20 ms policy steps instead.
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actuator_delay_min: 0
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actuator_delay_max: 0
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actuator_delay_seed: 0
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kps: [28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0]
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kds: [0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7]
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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_pos_scale: 0.25
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cmd_scale: [1.0, 1.0, 1.0]
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num_actions: 12
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num_obs: 45
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max_cmd: [1.0, 1.0, 1.0]
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cmd_init: [0.5, 0.0, 0.0]
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history_len: 10
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mujoco_joint_names: &joint_names
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[FR_hip_joint, FR_thigh_joint, FR_calf_joint,
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FL_hip_joint, FL_thigh_joint, FL_calf_joint,
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RR_hip_joint, RR_thigh_joint, RR_calf_joint,
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RL_hip_joint, RL_thigh_joint, RL_calf_joint]
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model_joint_names: *joint_names
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