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