41 lines
1.0 KiB
YAML
41 lines
1.0 KiB
YAML
model_name: "himloco.pt"
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framework: "isaacgym"
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rows: 4
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cols: 3
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decimation: 4
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num_observations: 45
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observations: ["commands", "ang_vel", "gravity_vec", "dof_pos", "dof_vel", "actions"]
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observations_history: [5, 4, 3, 2, 1, 0]
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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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rl_kp: [40, 40, 40,
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40, 40, 40,
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40, 40, 40,
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40, 40, 40]
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rl_kd: [1, 1, 1,
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1, 1, 1,
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1, 1, 1,
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1, 1, 1]
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hip_scale_reduction: 1.0
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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, 0.25]
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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] |