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