26 lines
697 B
YAML
26 lines
697 B
YAML
#
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policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/h1/motion.pt"
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xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/h1/scene.xml"
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# Total simulation time
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simulation_duration: 60.0
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# Simulation time step
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simulation_dt: 0.002
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# Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz)
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control_decimation: 10
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kps: [150, 150, 150, 200, 40, 150, 150, 150, 200, 40]
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kds: [2, 2, 2, 4, 2, 2, 2, 2, 4, 2]
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default_angles: [0, 0.0, -0.1, 0.3, -0.2,
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0, 0.0, -0.1, 0.3, -0.2]
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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: 10
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num_obs: 41
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cmd_init: [0.5, 0, 0] |