61 lines
2.4 KiB
Python
61 lines
2.4 KiB
Python
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from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
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class H1RoughCfg( LeggedRobotCfg ):
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class init_state( LeggedRobotCfg.init_state ):
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pos = [0.0, 0.0, 1.0] # x,y,z [m]
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default_joint_angles = { # = target angles [rad] when action = 0.0
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'left_hip_yaw_joint' : 0. ,
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'left_hip_roll_joint' : 0,
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'left_hip_pitch_joint' : -0.4,
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'left_knee_joint' : 0.8,
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'left_ankle_joint' : -0.4,
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'right_hip_yaw_joint' : 0.,
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'right_hip_roll_joint' : 0,
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'right_hip_pitch_joint' : -0.4,
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'right_knee_joint' : 0.8,
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'right_ankle_joint' : -0.4,
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'torso_joint' : 0.,
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'left_shoulder_pitch_joint' : 0.,
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'left_shoulder_roll_joint' : 0,
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'left_shoulder_yaw_joint' : 0.,
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'left_elbow_joint' : 0.,
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'right_shoulder_pitch_joint' : 0.,
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'right_shoulder_roll_joint' : 0.0,
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'right_shoulder_yaw_joint' : 0.,
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'right_elbow_joint' : 0.,
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}
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class control( LeggedRobotCfg.control ):
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# PD Drive parameters:
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control_type = 'P'
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stiffness = {'joint': 20.} # [N*m/rad]
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damping = {'joint': 0.5} # [N*m*s/rad]
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# action scale: target angle = actionScale * action + defaultAngle
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action_scale = 0.25
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# decimation: Number of control action updates @ sim DT per policy DT
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decimation = 4
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class asset( LeggedRobotCfg.asset ):
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file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/h1/urdf/h1.urdf'
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name = "h1"
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foot_name = "ankle"
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penalize_contacts_on = ["thigh", "calf"]
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terminate_after_contacts_on = ["base"]
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self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
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class rewards( LeggedRobotCfg.rewards ):
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soft_dof_pos_limit = 0.9
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base_height_target = 0.98
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class scales( LeggedRobotCfg.rewards.scales ):
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torques = -0.0002
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dof_pos_limits = -10.0
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class H1RoughCfgPPO( LeggedRobotCfgPPO ):
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class algorithm( LeggedRobotCfgPPO.algorithm ):
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entropy_coef = 0.01
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class runner( LeggedRobotCfgPPO.runner ):
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run_name = ''
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experiment_name = 'rough_go2'
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