First Commit

Deploy_Tienkung/policy/walk_amp/config/walk_amp.yaml

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+model_path: "policy.onnx" 
+motor_num: 29        # 电机数量
+actions_size: 23     # action的大小
+dt: 0.01
+warm_start_time: 0.0
+xsense_data_roll_offset: 0.0
+joint_names: [
+  hip_pitch_l_joint, hip_pitch_r_joint, waist_yaw_joint,
+  hip_roll_l_joint, hip_roll_r_joint, waist_roll_joint,
+  hip_yaw_l_joint, hip_yaw_r_joint, waist_pitch_joint,
+  knee_pitch_l_joint, knee_pitch_r_joint,
+  shoulder_pitch_l_joint, shoulder_pitch_r_joint,
+  ankle_pitch_l_joint, ankle_pitch_r_joint,
+  shoulder_roll_l_joint, shoulder_roll_r_joint,
+  ankle_roll_l_joint, ankle_roll_r_joint,
+  shoulder_yaw_l_joint, shoulder_yaw_r_joint,
+  elbow_pitch_l_joint, elbow_pitch_r_joint
+]
+zero_pos_offset: [
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
+      0.0, 0.0, 0.0,
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+    ]
+ct_scale: [
+          2.1, 2.1, 3.207, 2.673, 2.6, 2.6, 
+          2.1, 2.1, 3.207, 2.673, 2.6, 2.6, 
+          3.207, 3.207, 3.207, #TODO:待更新 pry
+          3.207, 2.28, 5.89, 5.89, 3.35, 2.3, 2.3, 
+          3.207, 2.28, 5.89, 5.89, 3.35, 2.3, 2.3
+    ]
+control:
+  # gait_cycle_period: 0.9
+  action_scale: 0.25               # 动作缩放比例，可写标量或 23 维数组
+  decimation: 1                   # 策略下发频率控制
+
+gait:
+  gait_air_ratio_l: 0.38
+  gait_air_ratio_r: 0.38
+  gait_phase_offset_l: 0.38
+  gait_phase_offset_r: 0.88
+  gait_cycle: 0.85
+
+normalization:
+  clip_scales:
+    clip_observations: 100. #18.0mlp
+    clip_actions: 100. #18.0
+  obs_scales:
+    lin_vel: 1.0                  # 线速度缩放因子
+    ang_vel: 1.0                  # 角速度缩放因子
+    dof_pos: 1.0                  # 关节位置缩放因子
+    dof_vel: 1.0                  # 关节速度缩放因子
+
+size:
+  num_hist: 10                     # 历史观测帧数
+  observations_size: 84          # 单帧观测长度
+
+gains:
+  kp: [
+    300.0, 300.0, 400.0,
+    300.0, 300.0, 400.0,
+    150.0, 150.0, 400.0,
+    350.0, 350.0,
+    150.0, 150.0,
+    30.0, 30.0,
+    50.0, 50.0,
+    16.8, 16.8,
+    50.0, 50.0,
+    150.0, 150.0
+  ]
+  kd: [
+    10.0, 10.0, 5.0,
+    10.0, 10.0, 10.0,
+    5.0, 5.0, 10.0,
+    10.0, 10.0,
+    7.5, 7.5,
+    2.5, 2.5,
+    2.5, 2.5,
+    1.4, 1.4,
+    2.5, 2.5,
+    5.0, 5.0
+  ]
+
+
+init_state:
+  default_joint_angles: [
+    -0.15, -0.15, 0.0,
+    0.0, 0.0, 0.0,
+    -0.0, -0.0, 0.0,
+    0.3, 0.3,
+    0.2, 0.2,
+    -0.15, -0.15,
+    0.1, -0.1,
+    0.0, 0.0,
+    0.0, 0.0,
+    -0.5, -0.5
+  ]