86 lines
3.6 KiB
Python
86 lines
3.6 KiB
Python
# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# SPDX-License-Identifier: BSD-3-Clause
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#
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# Copyright (c) 2021 ETH Zurich, Nikita Rudin
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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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