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fix: del unused config

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robotsfan 2024-05-25 01:04:30 +00:00
parent 12dd628bf8
commit 20127435f1
1 changed files with 0 additions and 114 deletions
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src/rl_sar/config.yaml
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@ -40,117 +40,3 @@ a1:
"FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
"RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
"RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"]
cyberdog1:
model_name: "model.pt"
num_observations: 45
clip_obs: 100.0
clip_actions: 100.0
rl_kp: [20, 20, 20, # FL
20, 20, 20, # FR
20, 20, 20, # RL
20, 20, 20] # RR
rl_kd: [0.5, 0.5, 0.5, # FL
0.5, 0.5, 0.5, # FR
0.5, 0.5, 0.5, # RL
0.5, 0.5, 0.5] # RR
fixed_kp: [80, 80, 80, # FL
80, 80, 80, # FR
80, 80, 80, # RL
80, 80, 80] # RR
fixed_kd: [3, 3, 3, # FL
3, 3, 3, # FR
3, 3, 3, # RL
3, 3, 3] # RR
action_scale: 0.25
hip_scale_reduction: 0.5
hip_scale_reduction_indices: [0, 3, 6, 9]
num_of_dofs: 12
lin_vel_scale: 2.0
ang_vel_scale: 0.25
dof_pos_scale: 1.0
dof_vel_scale: 0.05
commands_scale: [2.0, 2.0, 0.25]
torque_limits: [24.0, 24.0, 24.0, # FL
24.0, 24.0, 24.0, # FR
24.0, 24.0, 24.0, # RL
24.0, 24.0, 24.0] # RR
default_dof_pos: [ 0.1000, 0.8000, -1.5000, # FL
-0.1000, 0.8000, -1.5000, # FR
0.1000, 1.0000, -1.5000, # RL
-0.1000, 1.0000, -1.5000] # RR
joint_names: ["FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
"FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
"RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
"RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"]
lite3_wheel:
num_observations: 45
clip_obs: 100.0
clip_actions: 100.0
rl_kp: [20, 20, 20, 0, # FL
20, 20, 20, 0, # FR
20, 20, 20, 0, # RL
20, 20, 20, 0] # RR
rl_kd: [0.5, 0.5, 0.5, 0.5, # FL
0.5, 0.5, 0.5, 0.5, # FR
0.5, 0.5, 0.5, 0.5, # RL
0.5, 0.5, 0.5, 0.5] # RR
fixed_kp: [80, 80, 80, # FL
80, 80, 80, # FR
80, 80, 80, # RL
80, 80, 80] # RR
fixed_kd: [3, 3, 3, # FL
3, 3, 3, # FR
3, 3, 3, # RL
3, 3, 3] # RR
action_scale: 0.25
hip_scale_reduction: 1.0
hip_scale_reduction_indices: [0, 3, 6, 9]
num_of_dofs: 16
lin_vel_scale: 2.0
ang_vel_scale: 0.25
dof_pos_scale: 1.0
dof_vel_scale: 0.05
commands_scale: [2.0, 2.0, 0.25]
torque_limits: [21.6, 21.6, 32.4, 1.8, # FL
21.6, 21.6, 32.4, 1.8, # FR
21.6, 21.6, 32.4, 1.8, # RL
21.6, 21.6, 32.4, 1.8] # RR
default_dof_pos: [ 0.1000, 0.8000, -1.5000, 0.0000, # FL
-0.1000, 0.8000, -1.5000, 0.0000, # FR
0.1000, 1.0000, -1.5000, 0.0000, # RL
-0.1000, 1.0000, -1.5000, 0.0000] # RR
joint_names: ["FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
"FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
"RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
"RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"]
gr1t1:
model_name: "model_4000_jit.pt"
num_observations: 39
clip_obs: 100.0
clip_actions: 100.0
rl_kp: [57.0, 43.0, 114.0, 114.0, 15.3,
57.0, 43.0, 114.0, 114.0, 15.3]
rl_kd: [5.7, 4.3, 11.4, 11.4, 1.5,
5.7, 4.3, 11.4, 11.4, 1.5]
fixed_kp: [57.0, 43.0, 114.0, 114.0, 15.3,
57.0, 43.0, 114.0, 114.0, 15.3]
fixed_kd: [5.7, 4.3, 11.4, 11.4, 1.5,
5.7, 4.3, 11.4, 11.4, 1.5]
action_scale: 1.0
hip_scale_reduction: 1.0
hip_scale_reduction_indices: []
num_of_dofs: 10
lin_vel_scale: 2.0
ang_vel_scale: 0.25
dof_pos_scale: 1.0
dof_vel_scale: 0.05
commands_scale: [2.0, 2.0, 0.25]
torque_limits: [100.0, 100.0, 100.0, 100.0, 100.0,
100.0, 100.0, 100.0, 100.0, 100.0]
default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618,
0.0, 0.0, -0.2618, 0.5236, -0.2618]
joint_names: ["l_hip_roll_joint", "l_hip_yaw_joint", "l_hip_pitch_joint", "l_knee_pitch_joint", "l_ankle_pitch_joint",
"r_hip_roll_joint", "r_hip_yaw_joint", "r_hip_pitch_joint", "r_knee_pitch_joint", "r_ankle_pitch_joint"]