103 lines
1.6 KiB
YAML
103 lines
1.6 KiB
YAML
model:
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path: "policies/model_rough.onnx"
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source_pt: "policies/model_rough.pt"
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backend: "onnxruntime"
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obs_dim: 53
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action_dim: 16
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clip_obs: 100.0
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enable_zero_cmd_suppression: true
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observation:
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terms:
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- name: base_ang_vel
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dim: 3
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scale: 0.25
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- name: projected_gravity
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dim: 3
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- name: command
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dim: 3
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- name: joint_pos_rel
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dim: 12
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- name: joint_vel_rel
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dim: 12
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scale: 0.05
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- name: wheel_vel
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dim: 4
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scale: 0.05
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- name: last_actions
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dim: 16
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action:
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joint_order:
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- fl_hip_abduction
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- fl_hip_pitch
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- fl_knee
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- fr_hip_abduction
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- fr_hip_pitch
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- fr_knee
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- rl_hip_abduction
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- rl_hip_pitch
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- rl_knee
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- rr_hip_abduction
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- rr_hip_pitch
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- rr_knee
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- fl_wheel
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- fr_wheel
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- rl_wheel
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- rr_wheel
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wheel_indices: [12, 13, 14, 15]
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scale:
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- 0.125
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- 0.25
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- 0.25
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- 0.125
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- 0.25
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- 0.25
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- 0.125
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- 0.25
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- 0.25
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- 0.125
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- 0.25
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- 0.25
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- 5.0
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- 5.0
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- 5.0
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- 5.0
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default_dof_pos:
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- 0.0
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- 0.9
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- -1.8
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- 0.0
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- 0.9
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- -1.8
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- 0.0
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- 0.9
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- -1.8
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- 0.0
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- 0.9
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- -1.8
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- 0.0
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- 0.0
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- 0.0
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- 0.0
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control:
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control_freq_hz: 50
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runtime_kp_leg: 50.0
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runtime_kd_leg: 1.5
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hold_kp_leg: 80.0
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hold_kd_leg: 4.0
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kd_wheel: 1.0
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leg_lpf_hz: 5
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wheel_lpf_hz: 15
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command_filter:
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enabled: true
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max_vx_acc: 1.0
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max_vy_acc: 1.0
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max_yaw_acc: 1.5
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safety:
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zero_cmd_lin_thresh: 0.05
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zero_cmd_yaw_thresh: 0.05
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zero_yaw_rate_thresh: 0.10
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