56 lines
2.0 KiB
Python
56 lines
2.0 KiB
Python
from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
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class GO2RoughCfg( LeggedRobotCfg ):
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class init_state( LeggedRobotCfg.init_state ):
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pos = [0.0, 0.0, 0.42] # x,y,z [m]
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default_joint_angles = { # = target angles [rad] when action = 0.0
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'FL_hip_joint': 0.1, # [rad]
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'RL_hip_joint': 0.1, # [rad]
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'FR_hip_joint': -0.1 , # [rad]
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'RR_hip_joint': -0.1, # [rad]
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'FL_thigh_joint': 0.8, # [rad]
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'RL_thigh_joint': 1., # [rad]
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'FR_thigh_joint': 0.8, # [rad]
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'RR_thigh_joint': 1., # [rad]
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'FL_calf_joint': -1.5, # [rad]
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'RL_calf_joint': -1.5, # [rad]
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'FR_calf_joint': -1.5, # [rad]
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'RR_calf_joint': -1.5, # [rad]
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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/go2/urdf/go2.urdf'
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name = "go2"
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foot_name = "foot"
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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 = 0.25
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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 GO2RoughCfgPPO( 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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