91 lines
3.4 KiB
Python
91 lines
3.4 KiB
Python
from os import path as osp
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import numpy as np
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from legged_gym.envs.go1.go1_field_config import Go1FieldCfg, Go1FieldCfgPPO
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from legged_gym.utils.helpers import merge_dict
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class Go1TiltCfg( Go1FieldCfg ):
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#### uncomment this to train non-virtual terrain
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# class sensor( Go1FieldCfg.sensor ):
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# class proprioception( Go1FieldCfg.sensor.proprioception ):
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# delay_action_obs = True
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# latency_range = [0.04-0.0025, 0.04+0.0075]
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#### uncomment the above to train non-virtual terrain
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class terrain( Go1FieldCfg.terrain ):
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max_init_terrain_level = 2
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border_size = 5
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slope_treshold = 20.
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curriculum = True
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BarrierTrack_kwargs = merge_dict(Go1FieldCfg.terrain.BarrierTrack_kwargs, dict(
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options= [
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"tilt",
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],
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tilt= dict(
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width= (0.24, 0.8),
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depth= (0.4, 1.), # size along the forward axis
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opening_angle= 0.0, # [rad] an opening that make the robot easier to get into the obstacle
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wall_height= 0.5,
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),
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virtual_terrain= True, # Change this to False for real terrain
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no_perlin_threshold= 0.06,
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))
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TerrainPerlin_kwargs = merge_dict(Go1FieldCfg.terrain.TerrainPerlin_kwargs, dict(
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zScale= [0.05, 0.1],
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))
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class commands( Go1FieldCfg.commands ):
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class ranges( Go1FieldCfg.commands.ranges ):
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lin_vel_x = [0.3, 0.6]
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lin_vel_y = [0.0, 0.0]
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ang_vel_yaw = [0., 0.]
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class termination( Go1FieldCfg.termination ):
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# additional factors that determines whether to terminates the episode
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termination_terms = [
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"roll",
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"pitch",
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"z_low",
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"z_high",
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"out_of_track",
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]
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roll_kwargs = merge_dict(Go1FieldCfg.termination.roll_kwargs, dict(
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threshold= 0.4,
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leap_threshold= 0.4,
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))
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z_high_kwargs = merge_dict(Go1FieldCfg.termination.z_high_kwargs, dict(
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threshold= 2.0,
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))
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class rewards( Go1FieldCfg.rewards ):
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class scales:
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tracking_ang_vel = 0.05
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world_vel_l2norm = -1.
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legs_energy_substeps = -1e-6
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alive = 2.
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penetrate_depth = -4e-3
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penetrate_volume = -4e-3
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exceed_dof_pos_limits = -1e-1
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exceed_torque_limits_i = -1e-1
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class curriculum( Go1FieldCfg.curriculum ):
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penetrate_volume_threshold_harder = 9000
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penetrate_volume_threshold_easier = 10000
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penetrate_depth_threshold_harder = 300
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penetrate_depth_threshold_easier = 5000
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class Go1TiltCfgPPO( Go1FieldCfgPPO ):
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class runner( Go1FieldCfgPPO.runner ):
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run_name = "".join(["Skill",
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("Multi" if len(Go1TiltCfg.terrain.BarrierTrack_kwargs["options"]) > 1 else (Go1TiltCfg.terrain.BarrierTrack_kwargs["options"][0] if Go1TiltCfg.terrain.BarrierTrack_kwargs["options"] else "PlaneWalking")),
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("_tiltMax{:.1f}".format(Go1TiltCfg.terrain.BarrierTrack_kwargs["tilt"]["width"][1]) if Go1TiltCfg.terrain.BarrierTrack_kwargs["tilt"]["width"][1] > 0.5 else ""),
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])
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resume = True
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load_run = "{Your traind walking model directory}"
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load_run = "Sep20_03-37-32_SkillopensourcePlaneWalking_pEnergySubsteps1e-5_pTorqueExceedIndicate1e-1_aScale0.5_tClip202025"
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max_iterations = 20000
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save_interval = 500
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