xDeploy_SimRealToolBox/scripts/config_RPG.py at master · usfinea/xDeploy_SimRealToolBox · GitHub

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import sys
sys.path.append("..")
sys.path.append("../unitree_robots/scripts")

# -------------------- for modify panel --------------------
RUN_MODE = "real" # "real", "mujoco"
MOTOR_ENABLE = True # True for enable motors in real robot
## for capture video
policy_path = [
    "ckpt/rpg_jump_2_7.onnx",
    "ckpt/rpg_jump_2_7.onnx",
    "ckpt/rpg_jump_2_7.onnx",
    "ckpt/0918/rpg_kpjs_27_5333.onnx",
    "ckpt/0920_final_test/rpg_kpjs_0920_finaltest_27_5333.onnx",
    ]
motion_len = [2.7, 2.7, 2.7, 27.5333, 27.5333]
# -------------------- for remotor --------------------
KEY_LIST_keyboard = ['SPACE', 'M', 'J', 'K', 'L', 'U', 'I']
KEY_LIST_remotor = ['R1', 'X', 'A', 'B', 'Y']


# -------------------- for default setting --------------------
ROBOT = "g1" # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1"
ROBOT_SCENE = "../unitree_robots/" + ROBOT + "/g1_29dof_anneal_23dof.xml" # Robot scene

# DOMAIN_ID = 1 # Domain id
# INTERFACE = "lo" # Interface

USE_JOYSTICK = 0 # Simulate Unitree WirelessController using a gamepad, default = 1
JOYSTICK_TYPE = "xbox" # support "xbox" and "switch" gamepad layout
JOYSTICK_DEVICE = 0 # Joystick number

PRINT_SCENE_INFORMATION = True # Print link, joint and sensors information of robot
ENABLE_ELASTIC_BAND = False # Virtual spring band on root, used for lifting robot

SIMULATE_DT = 0.002  # Timestep in mujoco, need to be larger than the runtime of viewer.sync()
VIEWER_DT = 0.02  # 50 fps for viewer
CONTROL_DT = 0.02 # 50 fps for control

# -------------------- for decimation --------------------
decimation = True
q0 = [-0.4088,  0.0064, -0.0047,  0.9126]

# -------------------- for policy --------------------
loco_policy = "ckpt/robomimic_locomotion_29dof.pt"

# -------------------- for general --------------------
# control
action_scale = 0.25

joints_used_idx = [0, 1, 2, 3, 4, 5,
                    6, 7, 8, 9, 10, 11,
                    12, 13, 14,
                    15, 16, 17, 18,
                    22, 23, 24, 25]
kps = [200., 100., 100., 200., 50., 50.,
      200., 100., 100., 200., 50., 50.,
      400., 400., 400.,
      100., 100., 50., 50.,
      100., 100., 50., 50.]
kds = [2., 2., 2., 4., 2., 2.,
      2., 2., 2., 4., 2., 2.,
      5., 5., 5.,
      2., 2., 2., 2., 2., 2., 2., 2.]

joints_noused_idx = [19, 20, 21, 26, 27, 28]
noused_kps = [40., 40., 40., 40., 40., 40.]
noused_kds = [1., 1., 1., 1., 1., 1.]

# initial pose
default_angles = [-0.1, 0., 0., 0.3, -0.2, 0.,
                  -0.1, 0., 0., 0.3, -0.2, 0.,
                  0., 0., 0.,
                  0.2, 0.2, 0., 0.9,
                  0.2, -0.2, 0., 0.9]

# obs scale
base_lin_vel_scale = 2.0
ang_vel_scale = 0.25
projected_gravity_scale = 1.0
dof_pos_scale = 1.0
dof_vel_scale = 0.05
actions_scale = 1.0
dif_local_rigid_body_pos_scale = 1.0
local_ref_rigid_body_pos_scale = 1.0
ref_motion_phase_scale = 1.0
history_actor_scale = 1.0
history_critic_scale = 1.0

# policy
clip_observations = 100.0
clip_action_limit = 100.0
tau_limit = [88., 139., 88., 139., 50., 50.,
            88., 139., 88., 139., 50., 50.,
            88., 50., 50.,
            25., 25., 25., 25., 25., 25., 25., 25.]

# history handler
history_obs_auxiliary = {}
history_obs_auxiliary['ang_vel'] = 4
history_obs_auxiliary['projected_gravity'] = 4
history_obs_auxiliary['dof_pos'] = 4
history_obs_auxiliary['dof_vel'] = 4
history_obs_auxiliary['actions'] = 4
history_obs_auxiliary['ref_motion_phase'] = 4
obs_dims = {}
obs_dims['ang_vel'] = 3
obs_dims['projected_gravity'] = 3
obs_dims['dof_pos'] = 23
obs_dims['dof_vel'] = 23
obs_dims['actions'] = 23
obs_dims['dif_local_rigid_body_pos'] = 81
obs_dims['local_ref_rigid_body_pos'] = 81
obs_dims['ref_motion_phase'] = 1

# -------------------- for sim --------------------
# motion
decimation = 10

# -------------------- for locomotion --------------------
loco_kps = [200., 150., 150., 200., 20., 20.,
                200., 150., 150., 200., 20., 20.,
                200., 200., 200.,
                100., 100., 50., 50.,
                100., 100., 50., 50.]
loco_kds = [5., 5., 5., 5., 2., 2.,
            5., 5., 5., 5., 2., 2.,
            5., 5., 5.,
            2., 2., 2., 2., 2., 2., 2., 2.]
loco_default_angles = [-0.2,  -0.2,  0.0,
                  0.0,   0.0,  0.0,
                  0.0,   0.0,  0.0,
                  0.42,  0.42,       0.35,  0.35,
                 -0.23, -0.23,       0.18, -0.18,
                  0.0,   0.0,        0.0,   0.0,
                                     0.87,  0.87,
                                     0.0,   0.0,
                                     0.0,   0.0,
                                     0.0,   0.0]
loco_joints_23_idx = [0, 6, 12,
                  1, 7, 13,
                  2, 8, 14,
                  3, 9,      15, 19,
                  4, 10,     16, 20,
                  5, 11,     17, 21,
                             18, 22]