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45 lines
925 B
45 lines
925 B
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# Simulation parameters
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simulation_duration: 60.0
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simulation_dt: 0.002
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control_decimation: 10
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# PD gains
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kps: [
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150, 150, 150, 300, 40, 40,
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150, 150, 150, 300, 40, 40,
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250, 250, 250,
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100, 100, 40, 40, 20, 20, 20,
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100, 100, 40, 40, 20, 20, 20
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]
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kds: [
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2, 2, 2, 4, 2, 2,
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2, 2, 2, 4, 2, 2,
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5, 5, 5,
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5, 5, 2, 2, 2, 2, 2,
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5, 5, 2, 2, 2, 2, 2
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]
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# Default joint angles for legs
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default_angles: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0,
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-0.1, 0.0, 0.0, 0.3, -0.2, 0.0,
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0.0, 0.0, 0.0]
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# Scaling factors
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ang_vel_scale: 0.25
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dof_pos_scale: 1.0
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dof_vel_scale: 0.05
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action_scale: 0.25
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cmd_scale: [2.0, 2.0, 0.25]
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# Number of actions and observations
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num_actions: 15
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num_obs: 570 # 76 * 6 (observation dimension * history length)
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obs_history_len: 6
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# Initial commands
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cmd_init: [0.0, 0.0, 0.0]
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height_cmd: 0.74
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freq_cmd: 1.50
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roll_cmd: 0.0
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pitch_cmd: 0.0
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yaw_cmd: 0.0
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