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34 lines
790 B
34 lines
790 B
# Policy and model paths
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policy_path: "policy/deploy.onnx"
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xml_path: "g1.xml"
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# Simulation parameters
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simulation_duration: 1000.0
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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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# PD gains
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kps: [150, 150, 150, 200, 40, 40,
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150, 150, 150, 200, 40, 40]
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kds: [2.0, 2.0, 2.0, 4.0, 2.0, 2.0,
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2.0, 2.0, 2.0, 4.0, 2.0, 2.0]
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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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# 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: 12
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num_obs: 456 # 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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