# # policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/g1/motion.pt" # policy_path: "{LEGGED_GYM_ROOT_DIR}/logs/g1/walk_with_dr_test_v21/exported/policy.pt" policy_path: "{LEGGED_GYM_ROOT_DIR}/logs/g1/walk_with_dr_test_v22/exported/policy.pt" # xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/g1_description/scene.xml" xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/g1_description/g1_29dof_rev_1_0.xml" # Total simulation time simulation_duration: 60.0 # simulation_duration: 5. # Simulation time step simulation_dt: 0.002 # Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz) control_decimation: 10 # kps: [100, 100, 100, 150, 40, 40, 100, 100, 100, 150, 40, 40] kps: [ 100, 100, 100, 150, 40, 40, 100, 100, 100, 150, 40, 40, 150, 150, 150, 100, 100, 50, 50, 20, 20, 20, 100, 100, 50, 50, 20, 20, 20 ] kds: [ 2, 2, 2, 4, 2, 2, 2, 2, 2, 4, 2, 2, 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1 ] default_angles: [ -0.2, 0.0, 0.0, 0.42, -0.23, 0.0, -0.2, 0.0, 0.0, 0.42, -0.23, 0.0, 0., 0., 0., 0.35, 0.16, 0., 0.87, 0., 0., 0., 0.35, -0.16, 0., 0.87, 0., 0., 0., ] # ang_vel_scale: 0.25 ang_vel_scale: 1.0 dof_pos_scale: 1.0 # dof_vel_scale: 0.05 dof_vel_scale: 1.0 # action_scale: 0.25 # action_scale: 1.0 action_scale: 0.5 # cmd_scale: [2.0, 2.0, 0.25] cmd_scale: [1.0, 1.0, 1.0] # cmd_scale: [0., 0., 0.] # num_actions: 12 num_actions: 29 # num_obs: 47 num_obs: 96 cmd_init: [0.5, 0, 0]