170 lines
5.1 KiB
YAML
170 lines
5.1 KiB
YAML
#
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control_dt: 0.02
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msg_type: "hg" # "hg" or "go"
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imu_type: "pelvis" # "torso" or "pelvis"
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lowcmd_topic: "rt/lowcmd"
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lowstate_topic: "rt/lowstate"
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policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/g1/policy_eetrack.pt"
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lab_joint: [
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'left_hip_pitch_joint',
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'right_hip_pitch_joint',
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'waist_yaw_joint',
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'left_hip_roll_joint',
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'right_hip_roll_joint',
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'waist_roll_joint',
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'left_hip_yaw_joint',
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'right_hip_yaw_joint',
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'waist_pitch_joint',
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'left_knee_joint',
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'right_knee_joint',
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'left_shoulder_pitch_joint',
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'right_shoulder_pitch_joint',
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'left_ankle_pitch_joint',
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'right_ankle_pitch_joint',
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'left_shoulder_roll_joint',
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'right_shoulder_roll_joint',
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'left_ankle_roll_joint',
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'right_ankle_roll_joint',
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'left_shoulder_yaw_joint',
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'right_shoulder_yaw_joint',
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'left_elbow_joint',
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'right_elbow_joint',
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'left_wrist_roll_joint',
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'right_wrist_roll_joint',
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'left_wrist_pitch_joint',
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'right_wrist_pitch_joint',
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'left_wrist_yaw_joint',
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'right_wrist_yaw_joint'
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]
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arm_joint: [
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"left_shoulder_pitch_joint",
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"left_shoulder_roll_joint",
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"left_shoulder_yaw_joint",
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"left_elbow_joint",
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"left_wrist_roll_joint",
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"left_wrist_pitch_joint",
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"left_wrist_yaw_joint"
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]
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# non-arm joints; lab-convention
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non_arm_joint: ['left_hip_pitch_joint', 'right_hip_pitch_joint', 'waist_yaw_joint', 'left_hip_roll_joint', 'right_hip_roll_joint', 'waist_roll_joint', 'left_hip_yaw_joint', 'right_hip_yaw_joint', 'waist_pitch_joint', 'left_knee_joint', 'right_knee_joint', 'right_shoulder_pitch_joint', 'left_ankle_pitch_joint', 'right_ankle_pitch_joint', 'right_shoulder_roll_joint', 'left_ankle_roll_joint', 'right_ankle_roll_joint', 'right_shoulder_yaw_joint', 'right_elbow_joint', 'right_wrist_roll_joint', 'right_wrist_pitch_joint', 'right_wrist_yaw_joint']
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motor_joint: [
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'left_hip_pitch_joint',
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'left_hip_roll_joint',
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'left_hip_yaw_joint',
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'left_knee_joint',
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'left_ankle_pitch_joint',
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'left_ankle_roll_joint',
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'right_hip_pitch_joint',
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'right_hip_roll_joint',
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'right_hip_yaw_joint',
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'right_knee_joint',
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'right_ankle_pitch_joint',
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'right_ankle_roll_joint',
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'waist_yaw_joint',
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'waist_roll_joint',
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'waist_pitch_joint',
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'left_shoulder_pitch_joint',
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'left_shoulder_roll_joint',
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'left_shoulder_yaw_joint',
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'left_elbow_joint',
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'left_wrist_roll_joint',
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'left_wrist_pitch_joint',
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'left_wrist_yaw_joint',
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'right_shoulder_pitch_joint',
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'right_shoulder_roll_joint',
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'right_shoulder_yaw_joint',
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'right_elbow_joint',
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'right_wrist_roll_joint',
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'right_wrist_pitch_joint',
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'right_wrist_yaw_joint',
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]
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leg_joint2motor_idx: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
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joint2motor_idx: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,
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12, 13, 14, 15, 16, 17, 18, 19, 20, 21,
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22, 23, 24, 25, 26, 27, 28]
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left_arm_joint2motor_idx: [15,16,17,18,19,20,21]
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all_joint2motor_idx: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,
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12, 13, 14, 15, 16, 17, 18, 19, 20, 21,
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22, 23, 24, 25, 26, 27, 28]
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# kps: [100, 100, 100, 150, 40, 40, 100, 100, 100, 150, 40, 40]
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# kds: [2, 2, 2, 4, 2, 2, 2, 2, 2, 4, 2, 2]
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# default_angles: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0,
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# -0.1, 0.0, 0.0, 0.3, -0.2, 0.0]
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kps: [
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100, 100, 100, 150, 40, 40, 100, 100, 100, 150, 40, 40,
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150, 150, 150,
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# 100, 100, 50, 50, 20, 20, 20,
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# 100, 100, 50, 50, 20, 20, 20
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40, 40, 40, 40, 20, 20, 20,
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40, 40, 40, 40, 20, 20, 20,
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]
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kds: [
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# left leg
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# 2, 2, 2, 4, 2, 2,
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5, 5, 5, 5, 5, 5,
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# right leg
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# 2, 2, 2, 4, 2, 2,
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5, 5, 5, 5, 5, 5,
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# waist
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3, 3, 3,
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# left arm
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# 2, 2, 2, 2, 1, 1, 1,
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10, 10, 10, 10, 10, 10, 10,
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# right arm
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# 2, 2, 2, 2, 1, 1, 1
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10, 10, 10, 10, 10, 10, 10,
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]
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lab_joint_offsets: [
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-0.2000, -0.2000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
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0.0000, 0.4200, 0.4200, -0.2000, -0.2000, -0.2300, -0.2300, 0.3500,
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-0.3500, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, 1.0000, 0.0000,
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0.0000, 0.0000, 0.0000, 0.0000, 0.0000
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]
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default_angles: [
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-0.2, 0.0, 0.0, 0.42, -0.23, 0.0,
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-0.2, 0.0, 0.0, 0.42, -0.23, 0.0,
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0., 0., 0.,
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0.0, 0.0, 0., 0.0, 0., 0., 0.,
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0.0, 0.0, 0., 0.0, 0., 0., 0.,
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]
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# arm_waist_joint2motor_idx: [12, 13, 14,
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# 15, 16, 17, 18, 19, 20, 21,
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# 22, 23, 24, 25, 26, 27, 28]
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# arm_waist_kps: [300, 300, 300,
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# 100, 100, 50, 50, 20, 20, 20,
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# 100, 100, 50, 50, 20, 20, 20]
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# arm_waist_kds: [3, 3, 3,
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# 2, 2, 2, 2, 1, 1, 1,
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# 2, 2, 2, 2, 1, 1, 1]
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# arm_waist_target: [ 0, 0, 0,
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# 0, 0, 0, 0, 0, 0, 0,
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# 0, 0, 0, 0, 0, 0, 0]
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# ang_vel_scale: 0.25
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ang_vel_scale: 1.0
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dof_pos_scale: 1.0
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# dof_vel_scale: 0.05
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dof_vel_scale: 1.0
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# action_scale: 0.25
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action_scale: 0.5
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# cmd_scale: [2.0, 2.0, 0.25]
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cmd_scale: [0.0, 0.0, 0.0]
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num_actions: 29 # 22+7
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num_obs: 132
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# max_cmd: [0.8, 0.5, 1.57]
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max_cmd: [1.0, 1.0, 1.0]
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