26 lines
735 B
YAML
26 lines
735 B
YAML
#
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policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/h1_2/motion.pt"
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xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/h1_2/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: [200, 200, 200, 300, 40, 40, 200, 200, 200, 300, 40, 40]
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kds: [2.5, 2.5, 2.5, 4, 2, 2, 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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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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cmd_init: [0.5, 0, 0] |