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This commit is contained in:
Martino Russi
@@ -0,0 +1,423 @@
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GEAR_WBC_CONFIG: "gr00t_wbc/sim2mujoco/resources/robots/g1/g1_gear_wbc.yaml"
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# copy from g1_43dof_hist.yaml
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ROBOT_TYPE: 'g1_29dof' # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1"
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ROBOT_SCENE: "assets/scene_43dof.xml" # Robot scene with 3-finger dex hands
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DOMAIN_ID: 0 # Domain id
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# Network Interface, "lo" for simulation and the one with "192.168.123.222" for real robot
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INTERFACE: "lo"
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SIMULATOR: "mujoco" # "robocasa"
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USE_JOYSTICK: 0 # Simulate Unitree WirelessController using a gamepad (0: disable, 1: enable)
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JOYSTICK_TYPE: "xbox" # support "xbox" and "switch" gamepad layout
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JOYSTICK_DEVICE: 0 # Joystick number
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FREE_BASE: False
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enable_waist: False # Enable waist joints control (False = band on torso, True = band on pelvis)
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PRINT_SCENE_INFORMATION: True # Print link, joint and sensors information of robot
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ENABLE_ELASTIC_BAND: True # Virtual spring band, used for lifting h1
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SIMULATE_DT: 0.002 # Simulation timestep (500Hz)
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ENABLE_ONSCREEN: true # Show visualization window
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ENABLE_OFFSCREEN: false # Offscreen rendering for cameras (set to true to enable camera publishing)
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IMAGE_DT: 0.033333 # Image publishing rate ~30Hz
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MP_START_METHOD: "spawn" # Multiprocessing start method for image subprocess
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VIEWER_DT: 0.02 # Viewer update time
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REWARD_DT: 0.02
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USE_SENSOR: False
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USE_HISTORY: True
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USE_HISTORY_LOCO: True
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USE_HISTORY_MIMIC: True
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GAIT_PERIOD: 0.9 # 1.25
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MOTOR2JOINT: [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, 16, 17, 18, 19, 20, 21,
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22, 23, 24, 25, 26, 27, 28]
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JOINT2MOTOR: [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, 16, 17, 18, 19, 20, 21,
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22, 23, 24, 25, 26, 27, 28]
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UNITREE_LEGGED_CONST:
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HIGHLEVEL: 0xEE
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LOWLEVEL: 0xFF
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TRIGERLEVEL: 0xF0
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PosStopF: 2146000000.0
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VelStopF: 16000.0
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MODE_MACHINE: 5
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MODE_PR: 0
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JOINT_KP: [
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100, 100, 100, 200, 20, 20,
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100, 100, 100, 200, 20, 20,
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400, 400, 400,
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90, 60, 20, 60, 4, 4, 4,
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90, 60, 20, 60, 4, 4, 4
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]
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JOINT_KD: [
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2.5, 2.5, 2.5, 5, 0.2, 0.1,
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2.5, 2.5, 2.5, 5, 0.2, 0.1,
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5.0, 5.0, 5.0,
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2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2,
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2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2
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]
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# arm kp
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# soft kp, safe, test it first
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# 50, 50, 20, 20, 10, 10, 10
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# hard kp, use only if policy is safe
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# 200, 200, 80, 80, 50, 50, 50,
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# MOTOR_KP: [
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# 100, 100, 100, 200, 20, 20,
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# 100, 100, 100, 200, 20, 20,
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# 400, 400, 400,
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# 50, 50, 20, 20, 10, 10, 10,
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# 50, 50, 20, 20, 10, 10, 10
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# ]
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MOTOR_KP: [
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150, 150, 150, 200, 40, 40,
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150, 150, 150, 200, 40, 40,
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800, 250, 800,
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100, 100, 40, 40, 100, 100, 100,
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100, 100, 40, 40, 100, 100, 100
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]
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MOTOR_KD: [
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2, 2, 2, 4, 2, 2,
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2, 2, 2, 4, 2, 2,
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10, 5, 10,
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5, 5, 2, 2, 5, 5, 5,
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5, 5, 2, 2, 5, 5, 5
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]
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# MOTOR_KP: [
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# 100, 100, 100, 200, 20, 20,
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# 100, 100, 100, 200, 20, 20,
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# 400, 400, 400,
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# 90, 60, 20, 60, 4, 4, 4,
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# 90, 60, 20, 60, 4, 4, 4
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# ]
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# MOTOR_KD: [
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# 2.5, 2.5, 2.5, 5, 0.2, 0.1,
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# 2.5, 2.5, 2.5, 5, 0.2, 0.1,
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# 5.0, 5.0, 5.0,
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# 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2,
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# 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2
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# ]
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WeakMotorJointIndex:
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left_hip_yaw_joint: 0
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left_hip_roll_joint: 1
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left_hip_pitch_joint: 2
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left_knee_joint: 3
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left_ankle_pitch_joint: 4
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left_ankle_roll_joint: 5
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right_hip_yaw_joint: 6
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right_hip_roll_joint: 7
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right_hip_pitch_joint: 8
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right_knee_joint: 9
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right_ankle_pitch_joint: 10
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right_ankle_roll_joint: 11
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waist_yaw_joint : 12
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waist_roll_joint : 13
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waist_pitch_joint : 14
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left_shoulder_pitch_joint: 15
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left_shoulder_roll_joint: 16
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left_shoulder_yaw_joint: 17
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left_elbow_joint: 18
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left_wrist_roll_joint: 19
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left_wrist_pitch_joint: 20
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left_wrist_yaw_joint: 21
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right_shoulder_pitch_joint: 22
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right_shoulder_roll_joint: 23
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right_shoulder_yaw_joint: 24
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right_elbow_joint: 25
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right_wrist_roll_joint: 26
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right_wrist_pitch_joint: 27
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right_wrist_yaw_joint: 28
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NUM_MOTORS: 29
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NUM_JOINTS: 29
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NUM_HAND_MOTORS: 7
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NUM_HAND_JOINTS: 7
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NUM_UPPER_BODY_JOINTS: 17
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DEFAULT_DOF_ANGLES: [
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-0.1, # left_hip_pitch_joint
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0.0, # left_hip_roll_joint
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0.0, # left_hip_yaw_joint
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0.3, # left_knee_joint
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-0.2, # left_ankle_pitch_joint
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0.0, # left_ankle_roll_joint
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-0.1, # right_hip_pitch_joint
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0.0, # right_hip_roll_joint
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0.0, # right_hip_yaw_joint
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0.3, # right_knee_joint
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-0.2, # right_ankle_pitch_joint
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0.0, # right_ankle_roll_joint
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0.0, # waist_yaw_joint
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0.0, # waist_roll_joint
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0.0, # waist_pitch_joint
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0.0, # left_shoulder_pitch_joint
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0.0, # left_shoulder_roll_joint
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0.0, # left_shoulder_yaw_joint
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0.0, # left_elbow_joint
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0.0, # left_wrist_roll_joint
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0.0, # left_wrist_pitch_joint
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0.0, # left_wrist_yaw_joint
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0.0, # right_shoulder_pitch_joint
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0.0, # right_shoulder_roll_joint
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0.0, # right_shoulder_yaw_joint
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0.0, # right_elbow_joint
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0.0, # right_wrist_roll_joint
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0.0, # right_wrist_pitch_joint
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0.0 # right_wrist_yaw_joint
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]
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DEFAULT_MOTOR_ANGLES: [
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-0.1, # left_hip_pitch_joint
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0.0, # left_hip_roll_joint
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0.0, # left_hip_yaw_joint
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0.3, # left_knee_joint
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-0.2, # left_ankle_pitch_joint
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0.0, # left_ankle_roll_joint
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-0.1, # right_hip_pitch_joint
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0.0, # right_hip_roll_joint
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0.0, # right_hip_yaw_joint
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0.3, # right_knee_joint
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-0.2, # right_ankle_pitch_joint
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0.0, # right_ankle_roll_joint
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0.0, # waist_yaw_joint
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0.0, # waist_roll_joint
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0.0, # waist_pitch_joint
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0.0, # left_shoulder_pitch_joint
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0.0, # left_shoulder_roll_joint
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0.0, # left_shoulder_yaw_joint
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0.0, # left_elbow_joint
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0.0, # left_wrist_roll_joint
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0.0, # left_wrist_pitch_joint
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0.0, # left_wrist_yaw_joint
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0.0, # right_shoulder_pitch_joint
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0.0, # right_shoulder_roll_joint
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0.0, # right_shoulder_yaw_joint
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0.0, # right_elbow_joint
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0.0, # right_wrist_roll_joint
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0.0, # right_wrist_pitch_joint
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0.0 # right_wrist_yaw_joint
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]
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motor_pos_lower_limit_list: [-2.5307, -0.5236, -2.7576, -0.087267, -0.87267, -0.2618,
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-2.5307, -2.9671, -2.7576, -0.087267, -0.87267, -0.2618,
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-2.618, -0.52, -0.52,
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-3.0892, -1.5882, -2.618, -1.0472,
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-1.972222054, -1.61443, -1.61443,
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-3.0892, -2.2515, -2.618, -1.0472,
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-1.972222054, -1.61443, -1.61443]
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motor_pos_upper_limit_list: [2.8798, 2.9671, 2.7576, 2.8798, 0.5236, 0.2618,
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2.8798, 0.5236, 2.7576, 2.8798, 0.5236, 0.2618,
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2.618, 0.52, 0.52,
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2.6704, 2.2515, 2.618, 2.0944,
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1.972222054, 1.61443, 1.61443,
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2.6704, 1.5882, 2.618, 2.0944,
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1.972222054, 1.61443, 1.61443]
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motor_vel_limit_list: [32.0, 32.0, 32.0, 20.0, 37.0, 37.0,
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32.0, 32.0, 32.0, 20.0, 37.0, 37.0,
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32.0, 37.0, 37.0,
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37.0, 37.0, 37.0, 37.0,
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37.0, 22.0, 22.0,
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37.0, 37.0, 37.0, 37.0,
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37.0, 22.0, 22.0]
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motor_effort_limit_list: [88.0, 88.0, 88.0, 139.0, 50.0, 50.0,
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88.0, 88.0, 88.0, 139.0, 50.0, 50.0,
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88.0, 50.0, 50.0,
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25.0, 25.0, 25.0, 25.0,
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25.0, 5.0, 5.0,
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2.45, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7,
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25.0, 25.0, 25.0, 25.0,
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25.0, 5.0, 5.0,
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2.45, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7]
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history_config: {
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base_ang_vel: 4,
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projected_gravity: 4,
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command_lin_vel: 4,
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command_ang_vel: 4,
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command_base_height: 4,
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command_stand: 4,
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ref_upper_dof_pos: 4,
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dof_pos: 4,
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dof_vel: 4,
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actions: 4,
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# phase_time: 4,
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ref_motion_phase: 4,
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sin_phase: 4,
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cos_phase: 4
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}
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history_loco_config: {
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base_ang_vel: 4,
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projected_gravity: 4,
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command_lin_vel: 4,
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command_ang_vel: 4,
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# command_base_height: 4,
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command_stand: 4,
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ref_upper_dof_pos: 4,
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dof_pos: 4,
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dof_vel: 4,
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actions: 4,
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# phase_time: 4,
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sin_phase: 4,
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cos_phase: 4
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}
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history_loco_height_config: {
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base_ang_vel: 4,
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projected_gravity: 4,
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command_lin_vel: 4,
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command_ang_vel: 4,
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command_base_height: 4,
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command_stand: 4,
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ref_upper_dof_pos: 4,
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dof_pos: 4,
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dof_vel: 4,
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actions: 4,
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# phase_time: 4,
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sin_phase: 4,
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cos_phase: 4
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}
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history_mimic_config: {
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base_ang_vel: 4,
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projected_gravity: 4,
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dof_pos: 4,
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dof_vel: 4,
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actions: 4,
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ref_motion_phase: 4,
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}
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obs_dims: {
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base_lin_vel: 3,
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base_ang_vel: 3,
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projected_gravity: 3,
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command_lin_vel: 2,
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command_ang_vel: 1,
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command_stand: 1,
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command_base_height: 1,
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ref_upper_dof_pos: 17, # upper body actions
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dof_pos: 29,
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dof_vel: 29,
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# actions: 12, # lower body actions
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actions: 29, # full body actions
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phase_time: 1,
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||||
ref_motion_phase: 1, # mimic motion phase
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||||
sin_phase: 1,
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||||
cos_phase: 1,
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}
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obs_loco_dims: {
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||||
base_lin_vel: 3,
|
||||
base_ang_vel: 3,
|
||||
projected_gravity: 3,
|
||||
command_lin_vel: 2,
|
||||
command_ang_vel: 1,
|
||||
command_stand: 1,
|
||||
command_base_height: 1,
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ref_upper_dof_pos: 17, # upper body actions
|
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dof_pos: 29,
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||||
dof_vel: 29,
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actions: 12, # lower body actions
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||||
phase_time: 1,
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||||
sin_phase: 1,
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||||
cos_phase: 1,
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||||
}
|
||||
obs_mimic_dims: {
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||||
base_lin_vel: 3,
|
||||
base_ang_vel: 3,
|
||||
projected_gravity: 3,
|
||||
dof_pos: 29,
|
||||
dof_vel: 29,
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||||
actions: 29, # full body actions
|
||||
ref_motion_phase: 1, # mimic motion phase
|
||||
}
|
||||
obs_scales: {
|
||||
base_lin_vel: 2.0,
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||||
base_ang_vel: 0.25,
|
||||
projected_gravity: 1.0,
|
||||
command_lin_vel: 1,
|
||||
command_ang_vel: 1,
|
||||
command_stand: 1,
|
||||
command_base_height: 2, # Yuanhang: it's 2, not 1!
|
||||
ref_upper_dof_pos: 1.0,
|
||||
dof_pos: 1.0,
|
||||
dof_vel: 0.05,
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||||
history: 1.0,
|
||||
history_loco: 1.0,
|
||||
history_mimic: 1.0,
|
||||
actions: 1.0,
|
||||
phase_time: 1.0,
|
||||
ref_motion_phase: 1.0,
|
||||
sin_phase: 1.0,
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||||
cos_phase: 1.0
|
||||
}
|
||||
|
||||
loco_upper_body_dof_pos: [
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||||
0.0, 0.0, 0.0, # waist
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||||
0.0, 0.3, 0.0, 1.0, # left shoulder and elbow
|
||||
0.0, 0.0, 0.0, # left wrist
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||||
0.0, -0.3, 0.0, 1.0, # right shoulder and elbow
|
||||
0.0, 0.0, 0.0 # right wrist
|
||||
]
|
||||
|
||||
robot_dofs: {
|
||||
"g1_29dof": [1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1,
|
||||
1, 1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1, 1, 1, 1, 1],
|
||||
"g1_29dof_anneal_23dof": [1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1,
|
||||
1, 1, 1, 1, 0, 0, 0,
|
||||
1, 1, 1, 1, 0, 0, 0],
|
||||
}
|
||||
|
||||
mimic_robot_types: {
|
||||
|
||||
"APT_level1": "g1_29dof_anneal_23dof",
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
# 01281657
|
||||
mimic_models: {
|
||||
"APT_level1": "20250116_225127-TairanTestbed_G129dofANNEAL23dof_dm_APT_video_APT_level1_MinimalFriction-0.3_RfiTrue_Far0.325_RESUME_LARGENOISE-motion_tracking-g1_29dof_anneal_23dof/exported/model_176500.onnx",
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
start_upper_body_dof_pos: {
|
||||
|
||||
"APT_level1":
|
||||
[0.19964170455932617, 0.07710712403059006, -0.2882401943206787,
|
||||
0.21672365069389343, 0.15629297494888306, -0.5167576670646667, 0.5782126784324646,
|
||||
0.0, 0.0, 0.0,
|
||||
0.25740593671798706, -0.2504104673862457, 0.22500675916671753, 0.5127624273300171,
|
||||
0.0, 0.0, 0.0],
|
||||
|
||||
}
|
||||
|
||||
motion_length_s: {
|
||||
"APT_level1": 7.66,
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user