| { |
| "env_cfg": { |
| "urdf_path": "urdf/go2/urdf/go2.urdf", |
| "links_to_keep": [ |
| "FL_foot", |
| "FR_foot", |
| "RL_foot", |
| "RR_foot" |
| ], |
| "num_actions": 12, |
| "num_dofs": 12, |
| "default_joint_angles": { |
| "FL_hip_joint": 0.0, |
| "FR_hip_joint": 0.0, |
| "RL_hip_joint": 0.0, |
| "RR_hip_joint": 0.0, |
| "FL_thigh_joint": 0.8, |
| "FR_thigh_joint": 0.8, |
| "RL_thigh_joint": 1.0, |
| "RR_thigh_joint": 1.0, |
| "FL_calf_joint": -1.5, |
| "FR_calf_joint": -1.5, |
| "RL_calf_joint": -1.5, |
| "RR_calf_joint": -1.5 |
| }, |
| "dof_names": [ |
| "FR_hip_joint", |
| "FR_thigh_joint", |
| "FR_calf_joint", |
| "FL_hip_joint", |
| "FL_thigh_joint", |
| "FL_calf_joint", |
| "RR_hip_joint", |
| "RR_thigh_joint", |
| "RR_calf_joint", |
| "RL_hip_joint", |
| "RL_thigh_joint", |
| "RL_calf_joint" |
| ], |
| "termination_contact_link_names": [ |
| "base" |
| ], |
| "penalized_contact_link_names": [ |
| "base", |
| "thigh", |
| "calf" |
| ], |
| "feet_link_names": [ |
| "foot" |
| ], |
| "base_link_name": [ |
| "base" |
| ], |
| "PD_stiffness": { |
| "joint": 30.0 |
| }, |
| "PD_damping": { |
| "joint": 1.5 |
| }, |
| "use_implicit_controller": false, |
| "termination_if_roll_greater_than": 100, |
| "termination_if_pitch_greater_than": 100, |
| "termination_if_height_lower_than": 0.0, |
| "base_init_pos": [ |
| 0.0, |
| 0.0, |
| 0.42 |
| ], |
| "base_init_quat": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "push_interval_s": -1, |
| "max_push_vel_xy": 1.0, |
| "episode_length_s": 20.0, |
| "resampling_time_s": 4.0, |
| "command_type": "ang_vel_yaw", |
| "action_scale": 0.25, |
| "action_latency": 0.02, |
| "clip_actions": 100.0, |
| "send_timeouts": true, |
| "control_freq": 60, |
| "decimation": 4, |
| "feet_geom_offset": 1, |
| "use_terrain": false, |
| "dofs_position_rand_range": 0.3, |
| "base_position_rand_range": 1.0, |
| "randomize_base_yaw": true, |
| "randomize_friction": false, |
| "randomize_trajectory_heading": true, |
| "friction_range": [ |
| 0.2, |
| 1.5 |
| ], |
| "randomize_base_mass": true, |
| "added_mass_range": [ |
| -1.0, |
| 3.0 |
| ], |
| "randomize_com_displacement": true, |
| "com_displacement_range": [ |
| -0.01, |
| 0.01 |
| ], |
| "randomize_motor_strength": false, |
| "motor_strength_range": [ |
| 0.9, |
| 1.1 |
| ], |
| "randomize_motor_offset": true, |
| "motor_offset_range": [ |
| -0.02, |
| 0.02 |
| ], |
| "randomize_kp_scale": true, |
| "kp_scale_range": [ |
| 0.8, |
| 1.2 |
| ], |
| "randomize_kd_scale": true, |
| "kd_scale_range": [ |
| 0.8, |
| 1.2 |
| ], |
| "coupling": false, |
| "ref_state_init_prob": 0.9, |
| "warmup_time_s": 0.25, |
| "terminate_dist_threshold": 1.0, |
| "terminate_rot_threshold": 1.5707963267948966, |
| "perturb_init_state": true, |
| "randomize_init_frame": true, |
| "start_synced_with_ref_motion": true, |
| "sync_full_pose": true, |
| "policy_steps_per_ref_motion_step": 1 |
| }, |
| "obs_cfg": { |
| "num_obs": 31, |
| "num_history_obs": 3, |
| "obs_noise": { |
| "ang_vel": 0.0, |
| "gravity": 0.0, |
| "dof_pos": 0.0, |
| "dof_vel": 0.0 |
| }, |
| "obs_scales": { |
| "lin_vel": 1.0, |
| "ang_vel": 1.0, |
| "dof_pos": 1.0, |
| "dof_vel": 1.0 |
| } |
| }, |
| "reward_cfg": { |
| "tracking_sigma": 0.25, |
| "soft_dof_pos_limit": 0.9, |
| "base_height_target": 0.3, |
| "reward_scales": { |
| "joint_rot": 0.008333333333333333, |
| "joint_vel": 0.0008333333333333334, |
| "end_effector_pos": 0.0033333333333333335, |
| "root_pose": 0.0025, |
| "root_vel": 0.0016666666666666668 |
| } |
| }, |
| "command_cfg": { |
| "num_commands": 3, |
| "lin_vel_x_range": [ |
| -1.0, |
| 1.0 |
| ], |
| "lin_vel_y_range": [ |
| -1.0, |
| 1.0 |
| ], |
| "ang_vel_range": [ |
| -1.0, |
| 1.0 |
| ] |
| }, |
| "policy_cfg": { |
| "algorithm": { |
| "class_name": "PPO", |
| "clip_param": 0.2, |
| "desired_kl": 0.01, |
| "entropy_coef": 0.01, |
| "gamma": 0.99, |
| "lam": 0.95, |
| "learning_rate": 0.001, |
| "max_grad_norm": 1.0, |
| "num_learning_epochs": 5, |
| "num_mini_batches": 4, |
| "schedule": "adaptive", |
| "use_clipped_value_loss": true, |
| "value_loss_coef": 1.0 |
| }, |
| "init_member_classes": {}, |
| "policy": { |
| "activation": "elu", |
| "actor_hidden_dims": [ |
| 512, |
| 256, |
| 128 |
| ], |
| "critic_hidden_dims": [ |
| 512, |
| 256, |
| 128 |
| ], |
| "init_noise_std": 1.0, |
| "class_name": "ActorCritic" |
| }, |
| "runner": { |
| "checkpoint": -1, |
| "experiment_name": "trajectory_0007_imitation_warmup_and_randomize", |
| "load_run": -1, |
| "log_interval": 1, |
| "max_iterations": 10000, |
| "record_interval": -1, |
| "resume": false, |
| "resume_path": null |
| }, |
| "runner_class_name": "OnPolicyRunner", |
| "num_steps_per_env": 24, |
| "save_interval": 1000, |
| "empirical_normalization": null, |
| "seed": 1, |
| "logger": "wandb", |
| "wandb_mode": "online", |
| "project": "wolf_imitation", |
| "entity": "quadruped-rl", |
| "group": null, |
| "obs_groups": { |
| "policy": [ |
| "policy" |
| ], |
| "critic": [ |
| "policy" |
| ] |
| }, |
| "motion_range": [ |
| 116, |
| 1165 |
| ] |
| } |
| } |
|
|
