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anymal_pipeline.toml
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[env_config]
cls = "gym_jiminy.envs.ANYmalJiminyEnv"
[env_config.kwargs]
step_dt = 0.04
# ======================= Reference trajectory database =======================
[env_config.trajectories]
mode = "raise"
name = "reference"
dataset.reference = ["./anymal_trajectory.hdf5", "raise"]
# ======================= Ad-hoc termination conditions =======================
[[env_config.terminations]]
cls = "gym_jiminy.common.compositions.BaseRollPitchTermination"
[env_config.terminations.kwargs]
low = [-0.2, -0.05]
high = [-0.05, 0.3]
grace_period = 0.1
training_only = false
# ========================== Ad-hoc reward components =========================
[env_config.reward]
cls = "gym_jiminy.common.compositions.AdditiveMixtureReward"
[env_config.reward.kwargs]
name = "reward_total"
weights = [0.6, 0.4]
[[env_config.reward.kwargs.components]]
cls = "gym_jiminy.common.compositions.TrackingBaseOdometryVelocityReward"
[env_config.reward.kwargs.components.kwargs]
cutoff = 0.5
[[env_config.reward.kwargs.components]]
cls = "gym_jiminy.common.compositions.SurviveReward"
# ========================= Observer-Controller blocks ========================
[[layers_config]]
block.cls = "gym_jiminy.common.blocks.PDController"
[layers_config.block.kwargs]
update_ratio = 2
kp = [1500.0, 1500.0, 1500.0, 1500.0, 1500.0, 1500.0, 1500.0, 1500.0, 1500.0, 1500.0, 1500.0, 1500.0]
kd = [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]
joint_position_margin = 0.0
joint_velocity_limit = 100.0
joint_acceleration_limit = 10000.0
[layers_config.wrapper.kwargs]
augment_observation = true
[[layers_config]]
block.cls = "gym_jiminy.common.blocks.PDAdapter"
[layers_config.block.kwargs]
update_ratio = -1
order = 1
[layers_config.wrapper.kwargs]
augment_observation = false
[[layers_config]]
block.cls = "gym_jiminy.common.blocks.MahonyFilter"
[layers_config.block.kwargs]
update_ratio = 1
exact_init = false
kp = 1.0
ki = 0.1
# ========================= Policy interface wrappers =========================
[[layers_config]]
wrapper.cls = "gym_jiminy.common.wrappers.StackObservation"
[layers_config.wrapper.kwargs]
nested_filter_keys = [
["t"],
["measurements", "ImuSensor"],
["actions"],
]
num_stack = 4
skip_frames_ratio = 3