71 lines
1.6 KiB
YAML
71 lines
1.6 KiB
YAML
policy_path: "{ROOT_DIR}/deploy/pre_train/wyh/go2_moe_cts_v1_49500.pt"
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xml_path: "{ROOT_DIR}/resource/stairs.xml"
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render_fps: 240
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video_fps: 60
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save_video: false
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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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base_init_pos: [0.0, 0.0, 0.57]
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base_init_quat: [1.0, 0.0, 0.0, 0.0]
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# Based on the implementation of IsaacLab's DelayedPDActuatorCfg.
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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: [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_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: [1.0, 0.0, 0.0]
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history_len: 5
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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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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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