117 lines
3.4 KiB
YAML
117 lines
3.4 KiB
YAML
# onnx_path: "policy_fightAndSports1_s1.onnx"
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# onnx_path: "policy-dance.onnx"
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onnx_path: "lastdance_onlycom.onnx"
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warm_start_time: 0.0
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body_names : [
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"pelvis",
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"hip_pitch_l_link",
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"hip_roll_l_link",
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"hip_yaw_l_link",
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"knee_pitch_l_link",
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"ankle_pitch_l_link",
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"ankle_roll_l_link",
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"hip_pitch_r_link",
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"hip_roll_r_link",
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"hip_yaw_r_link",
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"knee_pitch_r_link",
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"ankle_pitch_r_link",
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"ankle_roll_r_link",
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"waist_yaw_link",
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"waist_roll_link",
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"waist_pitch_link",
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"shoulder_pitch_l_link",
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"elbow_pitch_l_link",
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"shoulder_pitch_r_link",
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"elbow_pitch_r_link",
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]
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anchor_body : "pelvis"
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#without motion anchor pos && anchor base lin vel
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# command :23+23+3+6 55
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# motion_anchor_ori_b: 6
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# base_ang_vel: 3
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# joint_pos（相对轴角）: 23
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# joint_vel: 23
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# actions（上一时刻动作）: 23
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# total : 133
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num_obs : 133
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locked_joint_map : [
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0, 1, 2, 3, 4, 5,
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6, 7, 8, 9, 10, 11,
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12, 13, 14,
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15, 18,
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22, 25
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]
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kps: [
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300, 300, 150, 350, 30, 16.8,
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300, 300, 150, 350, 30, 16.8,
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400, 400, 400,
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150, 50, 50, 150,150,200,200,
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150, 50, 50, 150,150,200,200,
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]
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kds: [
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10, 10, 5, 10, 5.0, 2.0,
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10, 10, 5, 10, 5.0, 2.0,
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5, 10, 10,
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5, 2.5, 2.5, 5,5,2,2,
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5, 2.5, 2.5, 5,5,2,2,
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]
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# motion_length: 140
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# tau_limit: [88.0, 88.0, 88.0,
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# 88.0, 88.0, 88.0,
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# 88.0, 88.0, 88.0,
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# 139.0, 139.0 , 25.0, 25.0,
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# 50.0, 50.0 , 25.0, 25.0,
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# 50.0, 50.0 , 25.0, 25.0,
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# 25.0, 25.0,
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# 5.0, 5.0,
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# 5.0, 5.0,
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# 5.0, 5.0
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# ]
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# kp_lab: [40.179, 40.179, 40.179, 99.098, 99.098, 28.501,
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# 40.179, 40.179, 28.501, 99.098, 99.098, 14.251,
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# 14.251, 28.501, 28.501, 14.251, 14.251, 28.501,
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# 28.501, 14.251, 14.251, 14.251, 14.251, 14.251,
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# 14.251, 16.778, 16.778, 16.778, 16.778]
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# kd_lab: [2.558, 2.558, 2.558, 6.309, 6.309, 1.814,
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# 2.558, 2.558, 1.814, 6.309, 6.309, 0.907,
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# 0.907, 1.814, 1.814, 0.907, 0.907, 1.814,
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# 1.814, 0.907, 0.907, 0.907, 0.907, 0.907,
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# 0.907, 1.068, 1.068, 1.068, 1.068]
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# default_angles_lab: [-0.312, -0.312, 0.0, 0.0, 0.0, 0.0,
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# 0.0, 0.0, 0.0, 0.669, 0.669, 0.2,
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# 0.2, -0.363, -0.363, 0.2, -0.2, 0.0,
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# 0.0, 0.0, 0.0, 0.6, 0.6, 0.0,
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# 0.0, 0.0, 0.0, 0.0, 0.0]
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# action_scale_lab: [0.548, 0.548, 0.548, 0.351, 0.351, 0.439,
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# 0.548, 0.548, 0.439, 0.351, 0.351, 0.439,
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# 0.439, 0.439, 0.439, 0.439, 0.439, 0.439,
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# 0.439, 0.439, 0.439, 0.439, 0.439, 0.439,
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# 0.439, 0.075, 0.075, 0.075, 0.075]
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num_actions: 19
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motor_nums: 29
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# num_obs: 154
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hold_final_reference: false
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# mj2lab: [0, 6, 12,
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# 1, 7, 13,
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# 2, 8, 14,
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# 3, 9 , 15, 22,
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# 4, 10 , 16, 23,
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# 5, 11 , 17, 24,
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# 18, 25,
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# 19, 26,
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# 20, 27,
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# 21, 28]
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# history_length: 4
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physical_dt: 0.01
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decimation: 1 |