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fix config params

This commit is contained in:
fan-ziqi 2024-08-26 00:10:14 +08:00
parent 7b291f6646
commit abcb18ac3d
1 changed files with 14 additions and 14 deletions
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28
src/rl_sar/models/openloong_isaacsim/config.yaml
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@ -9,18 +9,18 @@ openloong_isaacsim:
num_observations: 48
observations: ["lin_vel", "ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
clip_obs: 100.0
clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991, -1.3991,
-1.1391, -1.0491, -2.0991, -0.4391, -1.3991, -1.3991]
clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691, 0.8691,
0.4391, 1.0491, 1.0491, 2.2691, 0.8691, 0.8691]
rl_kp: [57.0, 43.0, 114.0, 114.0, 15.3, 15.3,
57.0, 43.0, 114.0, 114.0, 15.3, 15.3]
rl_kd: [5.7, 4.3, 11.4, 11.4, 1.5, 1.5,
5.7, 4.3, 11.4, 11.4, 1.5, 1.5]
fixed_kp: [57.0, 43.0, 114.0, 114.0, 15.3, 15.3,
57.0, 43.0, 114.0, 114.0, 15.3, 15.3]
fixed_kd: [5.7, 4.3, 11.4, 11.4, 1.5, 1.5,
5.7, 4.3, 11.4, 11.4, 1.5, 1.5]
clip_actions_lower: [-10000, -10000, -10000, -10000, -10000, -10000,
-10000, -10000, -10000, -10000, -10000, -10000]
clip_actions_upper: [10000, 10000, 10000, 10000, 10000, 10000,
10000, 10000, 10000, 10000, 10000, 10000]
rl_kp: [251.625, 362.5214, 200, 200, 10.9805, 10.9805,
251.625, 362.5214, 200, 200, 10.9805, 10.9805]
rl_kd: [10, 10, 10, 10, 10, 10,
10, 10, 10, 10, 10, 10]
fixed_kp: [251.625, 362.5214, 200, 200, 10.9805, 10.9805,
251.625, 362.5214, 200, 200, 10.9805, 10.9805]
fixed_kd: [10, 10, 10, 10, 10, 10,
10, 10, 10, 10, 10, 10]
hip_scale_reduction: 1.0
hip_scale_reduction_indices: []
num_of_dofs: 12
@ -30,8 +30,8 @@ openloong_isaacsim:
dof_pos_scale: 1.0
dof_vel_scale: 1.0
commands_scale: [1.0, 1.0, 1.0]
torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0, 16.0,
60.0, 45.0, 130.0, 130.0, 16.0, 16.0]
torque_limits: [10000, 10000, 10000, 10000, 10000, 10000,
10000, 10000, 10000, 10000, 10000, 10000]
default_dof_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", "l_ankle_roll_controller",