| experiment_name: r16_bigstride | |
| task: ETHRC-humanoidv1-walk-r16-bigstride-psu-v0 | |
| interface: lo | |
| sim2sim: true | |
| msg_type: go | |
| imu_type: base_link | |
| lowcmd_topic: rt/lowcmd | |
| lowstate_topic: rt/lowstate | |
| policy_path: policy.pt | |
| num_actions: 26 | |
| action_scale: 0.25 | |
| use_default_offset: true | |
| control_dt: 0.02 | |
| policy_rate_hz: 50.0 | |
| decimation: 4 | |
| sim_dt: 0.005 | |
| joint_names: | |
| - waist_upperbody_yaw | |
| - hip_central_rotation | |
| - neck_yaw | |
| - shoulder_flexion_l | |
| - shoulder_flexion_r | |
| - leg_flexion_l | |
| - leg_flexion_r | |
| - neck_pitch | |
| - shoulder_abduction_l | |
| - shoulder_abduction_r | |
| - leg_abduction_l | |
| - leg_abduction_r | |
| - shoulder_rotation_l | |
| - shoulder_rotation_r | |
| - hip_yaw_l | |
| - hip_yaw_r | |
| - elbow_flexion_l | |
| - elbow_flexion_r | |
| - knee_l | |
| - knee_r | |
| - wrist_rotation_l | |
| - wrist_rotation_r | |
| - foot_pitch_l | |
| - foot_pitch_r | |
| - foot_roll_l | |
| - foot_roll_r | |
| joint2motor_idx: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| - 16 | |
| - 17 | |
| - 18 | |
| - 19 | |
| - 20 | |
| - 21 | |
| - 22 | |
| - 23 | |
| - 24 | |
| - 25 | |
| default_angles: | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.18000000715255737 | |
| - -0.18000000715255737 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - -0.3499999940395355 | |
| - -0.3499999940395355 | |
| - 0.0 | |
| - 0.0 | |
| - 0.18000000715255737 | |
| - 0.18000000715255737 | |
| - 0.0 | |
| - 0.0 | |
| kps: | |
| - 172.35147094726562 | |
| - 172.35147094726562 | |
| - 35.557220458984375 | |
| - 69.74275207519531 | |
| - 69.74275207519531 | |
| - 172.35147094726562 | |
| - 172.35147094726562 | |
| - 35.557220458984375 | |
| - 69.74275207519531 | |
| - 69.74275207519531 | |
| - 172.35147094726562 | |
| - 172.35147094726562 | |
| - 35.557220458984375 | |
| - 35.557220458984375 | |
| - 172.35147094726562 | |
| - 172.35147094726562 | |
| - 35.557220458984375 | |
| - 35.557220458984375 | |
| - 172.35147094726562 | |
| - 172.35147094726562 | |
| - 35.557220458984375 | |
| - 35.557220458984375 | |
| - 36.63602066040039 | |
| - 36.63602066040039 | |
| - 36.63602066040039 | |
| - 36.63602066040039 | |
| kds: | |
| - 5.072013854980469 | |
| - 5.072013854980469 | |
| - 0.8349924683570862 | |
| - 1.7447954416275024 | |
| - 1.7447954416275024 | |
| - 5.072013854980469 | |
| - 5.072013854980469 | |
| - 0.8349924683570862 | |
| - 1.7447954416275024 | |
| - 1.7447954416275024 | |
| - 5.072013854980469 | |
| - 5.072013854980469 | |
| - 0.8349924683570862 | |
| - 0.8349924683570862 | |
| - 5.072013854980469 | |
| - 5.072013854980469 | |
| - 0.8349924683570862 | |
| - 0.8349924683570862 | |
| - 5.072013854980469 | |
| - 5.072013854980469 | |
| - 0.8349924683570862 | |
| - 0.8349924683570862 | |
| - 0.9277009963989258 | |
| - 0.9277009963989258 | |
| - 0.9277009963989258 | |
| - 0.9277009963989258 | |
| effort_limits: | |
| - 128.0 | |
| - 128.0 | |
| - 40.0 | |
| - 80.0 | |
| - 80.0 | |
| - 128.0 | |
| - 128.0 | |
| - 40.0 | |
| - 80.0 | |
| - 80.0 | |
| - 128.0 | |
| - 128.0 | |
| - 40.0 | |
| - 40.0 | |
| - 128.0 | |
| - 128.0 | |
| - 40.0 | |
| - 40.0 | |
| - 128.0 | |
| - 128.0 | |
| - 40.0 | |
| - 40.0 | |
| - 60.0 | |
| - 60.0 | |
| - 60.0 | |
| - 60.0 | |
| articulation_joint_names: | |
| - waist_upperbody_yaw | |
| - hip_central_rotation | |
| - neck_yaw | |
| - shoulder_flexion_l | |
| - shoulder_flexion_r | |
| - leg_flexion_l | |
| - leg_flexion_r | |
| - neck_pitch | |
| - shoulder_abduction_l | |
| - shoulder_abduction_r | |
| - leg_abduction_l | |
| - leg_abduction_r | |
| - shoulder_rotation_l | |
| - shoulder_rotation_r | |
| - hip_yaw_l | |
| - hip_yaw_r | |
| - elbow_flexion_l | |
| - elbow_flexion_r | |
| - knee_l | |
| - knee_r | |
| - wrist_rotation_l | |
| - wrist_rotation_r | |
| - foot_pitch_l | |
| - foot_pitch_r | |
| - foot_roll_l | |
| - foot_roll_r | |
| articulation_default_angles: | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.18000000715255737 | |
| - -0.18000000715255737 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - -0.3499999940395355 | |
| - -0.3499999940395355 | |
| - 0.0 | |
| - 0.0 | |
| - 0.18000000715255737 | |
| - 0.18000000715255737 | |
| - 0.0 | |
| - 0.0 | |
| pd_per_joint: | |
| waist_upperbody_yaw: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| hip_central_rotation: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| leg_flexion_l: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| leg_flexion_r: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| leg_abduction_l: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| leg_abduction_r: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| hip_yaw_l: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| hip_yaw_r: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| knee_l: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| knee_r: | |
| kp: 172.35147094726562 | |
| kd: 5.072013854980469 | |
| effort_limit: 128.0 | |
| velocity_limit: 14.65999984741211 | |
| shoulder_flexion_l: | |
| kp: 69.74275207519531 | |
| kd: 1.7447954416275024 | |
| effort_limit: 80.0 | |
| velocity_limit: 18.0 | |
| shoulder_flexion_r: | |
| kp: 69.74275207519531 | |
| kd: 1.7447954416275024 | |
| effort_limit: 80.0 | |
| velocity_limit: 18.0 | |
| shoulder_abduction_l: | |
| kp: 69.74275207519531 | |
| kd: 1.7447954416275024 | |
| effort_limit: 80.0 | |
| velocity_limit: 18.0 | |
| shoulder_abduction_r: | |
| kp: 69.74275207519531 | |
| kd: 1.7447954416275024 | |
| effort_limit: 80.0 | |
| velocity_limit: 18.0 | |
| neck_yaw: | |
| kp: 35.557220458984375 | |
| kd: 0.8349924683570862 | |
| effort_limit: 40.0 | |
| velocity_limit: 20.0 | |
| neck_pitch: | |
| kp: 35.557220458984375 | |
| kd: 0.8349924683570862 | |
| effort_limit: 40.0 | |
| velocity_limit: 20.0 | |
| shoulder_rotation_l: | |
| kp: 35.557220458984375 | |
| kd: 0.8349924683570862 | |
| effort_limit: 40.0 | |
| velocity_limit: 20.0 | |
| shoulder_rotation_r: | |
| kp: 35.557220458984375 | |
| kd: 0.8349924683570862 | |
| effort_limit: 40.0 | |
| velocity_limit: 20.0 | |
| elbow_flexion_l: | |
| kp: 35.557220458984375 | |
| kd: 0.8349924683570862 | |
| effort_limit: 40.0 | |
| velocity_limit: 20.0 | |
| elbow_flexion_r: | |
| kp: 35.557220458984375 | |
| kd: 0.8349924683570862 | |
| effort_limit: 40.0 | |
| velocity_limit: 20.0 | |
| wrist_rotation_l: | |
| kp: 35.557220458984375 | |
| kd: 0.8349924683570862 | |
| effort_limit: 40.0 | |
| velocity_limit: 20.0 | |
| wrist_rotation_r: | |
| kp: 35.557220458984375 | |
| kd: 0.8349924683570862 | |
| effort_limit: 40.0 | |
| velocity_limit: 20.0 | |
| foot_pitch_l: | |
| kp: 36.63602066040039 | |
| kd: 0.9277009963989258 | |
| effort_limit: 60.0 | |
| velocity_limit: 50.0 | |
| foot_pitch_r: | |
| kp: 36.63602066040039 | |
| kd: 0.9277009963989258 | |
| effort_limit: 60.0 | |
| velocity_limit: 50.0 | |
| foot_roll_l: | |
| kp: 36.63602066040039 | |
| kd: 0.9277009963989258 | |
| effort_limit: 60.0 | |
| velocity_limit: 50.0 | |
| foot_roll_r: | |
| kp: 36.63602066040039 | |
| kd: 0.9277009963989258 | |
| effort_limit: 60.0 | |
| velocity_limit: 50.0 | |
| obs_history_length: 5 | |
| obs_single_frame_dim: 89 | |
| obs_total_dim: 445 | |
| obs_layout: | |
| - name: base_ang_vel | |
| start: 0 | |
| end: 15 | |
| base_dim: 3 | |
| block_dim: 15 | |
| scale: 0.2 | |
| - name: projected_gravity | |
| start: 15 | |
| end: 30 | |
| base_dim: 3 | |
| block_dim: 15 | |
| scale: 1.0 | |
| - name: velocity_commands | |
| start: 30 | |
| end: 45 | |
| base_dim: 3 | |
| block_dim: 15 | |
| scale: 1.0 | |
| params: | |
| command_name: base_velocity | |
| - name: joint_pos_rel | |
| start: 45 | |
| end: 175 | |
| base_dim: 26 | |
| block_dim: 130 | |
| scale: 1.0 | |
| - name: joint_vel_rel | |
| start: 175 | |
| end: 305 | |
| base_dim: 26 | |
| block_dim: 130 | |
| scale: 0.05 | |
| - name: last_action | |
| start: 305 | |
| end: 435 | |
| base_dim: 26 | |
| block_dim: 130 | |
| scale: 1.0 | |
| - name: gait_phase | |
| start: 435 | |
| end: 445 | |
| base_dim: 2 | |
| block_dim: 10 | |
| scale: 1.0 | |
| params: | |
| period: 0.9 | |
| command_name: base_velocity | |
| command_ranges: | |
| lin_vel_x: | |
| - -0.1 | |
| - 0.1 | |
| lin_vel_y: | |
| - 0.1 | |
| - 0.8 | |
| ang_vel_z: | |
| - -0.1 | |
| - 0.1 | |
| checkpoint: /home/sjohn/Documents/project/rc_humanoid_rl_lab/logs/rsl_rl/humanoid_v1_locomotion/r16_bigstride/model_9999.pt | |