46 lines
1.1 KiB
YAML
46 lines
1.1 KiB
YAML
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#
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control_dt: 0.02
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msg_type: "hg" # "hg" or "go"
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imu_type: "torso" # "torso" or "pelvis"
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lowcmd_topic: "rt/lowcmd"
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lowstate_topic: "rt/lowstate"
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policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/h1_2/motion.pt"
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leg_joint2motor_idx: [0, 1, 2, 3, 4, 5,
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6, 7, 8, 9, 10, 11]
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kps: [200, 200, 200, 300, 40, 40,
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200, 200, 200, 300, 40, 40]
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kds: [2.5, 2.5, 2.5, 4, 2, 2,
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2.5, 2.5, 2.5, 4, 2, 2]
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default_angles: [0, -0.16, 0.0, 0.36, -0.2, 0.0,
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0, -0.16, 0.0, 0.36, -0.2, 0.0]
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arm_waist_joint2motor_idx: [12,
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13, 14, 15, 16, 17, 18, 19,
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20, 21, 22, 23, 24, 25, 26]
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arm_waist_kps: [300,
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120, 120, 120, 80, 80, 80, 80,
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120, 120, 120, 80, 80, 80, 80]
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arm_waist_kds: [3,
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2, 2, 2, 1, 1, 1, 1,
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2, 2, 2, 1, 1, 1, 1]
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arm_waist_target: [ 0,
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0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 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_scale: 0.25
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cmd_scale: [2.0, 2.0, 0.25]
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num_actions: 12
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num_obs: 47
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max_cmd: [0.8, 0.5, 1.57]
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