54 lines
1.5 KiB
YAML
54 lines
1.5 KiB
YAML
#
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# policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/g1/motion.pt"
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# policy_path: "{LEGGED_GYM_ROOT_DIR}/logs/g1/walk_with_dr_test_v21/exported/policy.pt"
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policy_path: "{LEGGED_GYM_ROOT_DIR}/logs/g1/walk_with_dr_test_v22/exported/policy.pt"
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# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/g1_description/scene.xml"
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xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/g1_description/g1_29dof_rev_1_0.xml"
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# Total simulation time
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simulation_duration: 60.0
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# simulation_duration: 5.
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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: [100, 100, 100, 150, 40, 40, 100, 100, 100, 150, 40, 40]
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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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]
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kds: [
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2, 2, 2, 4, 2, 2, 2, 2, 2, 4, 2, 2,
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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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]
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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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0.35, 0.16, 0., 0.87, 0., 0., 0.,
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0.35, -0.16, 0., 0.87, 0., 0., 0.,
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]
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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: 1.0
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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: [1.0, 1.0, 1.0]
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# cmd_scale: [0., 0., 0.]
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# num_actions: 12
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num_actions: 29
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# num_obs: 47
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num_obs: 96
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cmd_init: [0.5, 0, 0] |