2024-10-07 11:57:32 +08:00
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model_name: "model_0702.pt"
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framework: "isaacgym"
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rows: 4
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cols: 3
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use_history: True
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decimation: 4
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num_observations: 45
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observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
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clip_obs: 100.0
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clip_actions_lower: [-100, -100, -100,
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-100, -100, -100,
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-100, -100, -100,
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-100, -100, -100]
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clip_actions_upper: [100, 100, 100,
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100, 100, 100,
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100, 100, 100,
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100, 100, 100]
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2024-10-10 21:22:58 +08:00
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rl_kp: [20.1, 20.1, 20.1,
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20.1, 20.1, 20.1,
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20.1, 20.1, 20.1,
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20.1, 20.1, 20.1]
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rl_kd: [0.54, 0.54, 0.54,
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0.54, 0.54, 0.54,
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0.54, 0.54, 0.54,
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0.54, 0.54, 0.54]
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2024-10-07 11:57:32 +08:00
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fixed_kp: [80, 80, 80,
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80, 80, 80,
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80, 80, 80,
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80, 80, 80]
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fixed_kd: [3, 3, 3,
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3, 3, 3,
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3, 3, 3,
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3, 3, 3]
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hip_scale_reduction: 0.5
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hip_scale_reduction_indices: [0, 3, 6, 9]
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num_of_dofs: 12
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action_scale: 0.25
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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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commands_scale: [2.0, 2.0, 1.0]
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torque_limits: [33.5, 33.5, 33.5,
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33.5, 33.5, 33.5,
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33.5, 33.5, 33.5,
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33.5, 33.5, 33.5]
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default_dof_pos: [ 0.1000, 0.8000, -1.5000,
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-0.1000, 0.8000, -1.5000,
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0.1000, 1.0000, -1.5000,
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-0.1000, 1.0000, -1.5000]
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