GEAR_WBC_CONFIG: "gr00t_wbc/sim2mujoco/resources/robots/g1/g1_gear_wbc.yaml" # copy from g1_43dof_hist.yaml ROBOT_TYPE: 'g1_29dof' # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1" ROBOT_SCENE: "assets/scene_43dof.xml" # Robot scene with 3-finger dex hands DOMAIN_ID: 0 # Domain id # Network Interface, "lo" for simulation and the one with "192.168.123.222" for real robot INTERFACE: "lo" SIMULATOR: "mujoco" # "robocasa" USE_JOYSTICK: 0 # Simulate Unitree WirelessController using a gamepad (0: disable, 1: enable) JOYSTICK_TYPE: "xbox" # support "xbox" and "switch" gamepad layout JOYSTICK_DEVICE: 0 # Joystick number FREE_BASE: False enable_waist: False # Enable waist joints control (False = band on torso, True = band on pelvis) PRINT_SCENE_INFORMATION: True # Print link, joint and sensors information of robot ENABLE_ELASTIC_BAND: True # Virtual spring band, used for lifting h1 SIMULATE_DT: 0.002 # Simulation timestep (500Hz) ENABLE_ONSCREEN: true # Show visualization window ENABLE_OFFSCREEN: false # Offscreen rendering for cameras (set to true to enable camera publishing) IMAGE_DT: 0.033333 # Image publishing rate ~30Hz MP_START_METHOD: "spawn" # Multiprocessing start method for image subprocess VIEWER_DT: 0.02 # Viewer update time REWARD_DT: 0.02 USE_SENSOR: False USE_HISTORY: True USE_HISTORY_LOCO: True USE_HISTORY_MIMIC: True GAIT_PERIOD: 0.9 # 1.25 MOTOR2JOINT: [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, 26, 27, 28] JOINT2MOTOR: [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, 26, 27, 28] UNITREE_LEGGED_CONST: HIGHLEVEL: 0xEE LOWLEVEL: 0xFF TRIGERLEVEL: 0xF0 PosStopF: 2146000000.0 VelStopF: 16000.0 MODE_MACHINE: 5 MODE_PR: 0 JOINT_KP: [ 100, 100, 100, 200, 20, 20, 100, 100, 100, 200, 20, 20, 400, 400, 400, 90, 60, 20, 60, 4, 4, 4, 90, 60, 20, 60, 4, 4, 4 ] JOINT_KD: [ 2.5, 2.5, 2.5, 5, 0.2, 0.1, 2.5, 2.5, 2.5, 5, 0.2, 0.1, 5.0, 5.0, 5.0, 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2, 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2 ] # arm kp # soft kp, safe, test it first # 50, 50, 20, 20, 10, 10, 10 # hard kp, use only if policy is safe # 200, 200, 80, 80, 50, 50, 50, # MOTOR_KP: [ # 100, 100, 100, 200, 20, 20, # 100, 100, 100, 200, 20, 20, # 400, 400, 400, # 50, 50, 20, 20, 10, 10, 10, # 50, 50, 20, 20, 10, 10, 10 # ] MOTOR_KP: [ 150, 150, 150, 200, 40, 40, 150, 150, 150, 200, 40, 40, 800, 250, 800, 100, 100, 40, 40, 100, 100, 100, 100, 100, 40, 40, 100, 100, 100 ] MOTOR_KD: [ 2, 2, 2, 4, 2, 2, 2, 2, 2, 4, 2, 2, 10, 5, 10, 5, 5, 2, 2, 5, 5, 5, 5, 5, 2, 2, 5, 5, 5 ] # MOTOR_KP: [ # 100, 100, 100, 200, 20, 20, # 100, 100, 100, 200, 20, 20, # 400, 400, 400, # 90, 60, 20, 60, 4, 4, 4, # 90, 60, 20, 60, 4, 4, 4 # ] # MOTOR_KD: [ # 2.5, 2.5, 2.5, 5, 0.2, 0.1, # 2.5, 2.5, 2.5, 5, 0.2, 0.1, # 5.0, 5.0, 5.0, # 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2, # 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2 # ] WeakMotorJointIndex: left_hip_yaw_joint: 0 left_hip_roll_joint: 1 left_hip_pitch_joint: 2 left_knee_joint: 3 left_ankle_pitch_joint: 4 left_ankle_roll_joint: 5 right_hip_yaw_joint: 6 right_hip_roll_joint: 7 right_hip_pitch_joint: 8 right_knee_joint: 9 right_ankle_pitch_joint: 10 right_ankle_roll_joint: 11 waist_yaw_joint : 12 waist_roll_joint : 13 waist_pitch_joint : 14 left_shoulder_pitch_joint: 15 left_shoulder_roll_joint: 16 left_shoulder_yaw_joint: 17 left_elbow_joint: 18 left_wrist_roll_joint: 19 left_wrist_pitch_joint: 20 left_wrist_yaw_joint: 21 right_shoulder_pitch_joint: 22 right_shoulder_roll_joint: 23 right_shoulder_yaw_joint: 24 right_elbow_joint: 25 right_wrist_roll_joint: 26 right_wrist_pitch_joint: 27 right_wrist_yaw_joint: 28 NUM_MOTORS: 29 NUM_JOINTS: 29 NUM_HAND_MOTORS: 7 NUM_HAND_JOINTS: 7 NUM_UPPER_BODY_JOINTS: 17 DEFAULT_DOF_ANGLES: [ -0.1, # left_hip_pitch_joint 0.0, # left_hip_roll_joint 0.0, # left_hip_yaw_joint 0.3, # left_knee_joint -0.2, # left_ankle_pitch_joint 0.0, # left_ankle_roll_joint -0.1, # right_hip_pitch_joint 0.0, # right_hip_roll_joint 0.0, # right_hip_yaw_joint 0.3, # right_knee_joint -0.2, # right_ankle_pitch_joint 0.0, # right_ankle_roll_joint 0.0, # waist_yaw_joint 0.0, # waist_roll_joint 0.0, # waist_pitch_joint 0.0, # left_shoulder_pitch_joint 0.0, # left_shoulder_roll_joint 0.0, # left_shoulder_yaw_joint 0.0, # left_elbow_joint 0.0, # left_wrist_roll_joint 0.0, # left_wrist_pitch_joint 0.0, # left_wrist_yaw_joint 0.0, # right_shoulder_pitch_joint 0.0, # right_shoulder_roll_joint 0.0, # right_shoulder_yaw_joint 0.0, # right_elbow_joint 0.0, # right_wrist_roll_joint 0.0, # right_wrist_pitch_joint 0.0 # right_wrist_yaw_joint ] DEFAULT_MOTOR_ANGLES: [ -0.1, # left_hip_pitch_joint 0.0, # left_hip_roll_joint 0.0, # left_hip_yaw_joint 0.3, # left_knee_joint -0.2, # left_ankle_pitch_joint 0.0, # left_ankle_roll_joint -0.1, # right_hip_pitch_joint 0.0, # right_hip_roll_joint 0.0, # right_hip_yaw_joint 0.3, # right_knee_joint -0.2, # right_ankle_pitch_joint 0.0, # right_ankle_roll_joint 0.0, # waist_yaw_joint 0.0, # waist_roll_joint 0.0, # waist_pitch_joint 0.0, # left_shoulder_pitch_joint 0.0, # left_shoulder_roll_joint 0.0, # left_shoulder_yaw_joint 0.0, # left_elbow_joint 0.0, # left_wrist_roll_joint 0.0, # left_wrist_pitch_joint 0.0, # left_wrist_yaw_joint 0.0, # right_shoulder_pitch_joint 0.0, # right_shoulder_roll_joint 0.0, # right_shoulder_yaw_joint 0.0, # right_elbow_joint 0.0, # right_wrist_roll_joint 0.0, # right_wrist_pitch_joint 0.0 # right_wrist_yaw_joint ] motor_pos_lower_limit_list: [-2.5307, -0.5236, -2.7576, -0.087267, -0.87267, -0.2618, -2.5307, -2.9671, -2.7576, -0.087267, -0.87267, -0.2618, -2.618, -0.52, -0.52, -3.0892, -1.5882, -2.618, -1.0472, -1.972222054, -1.61443, -1.61443, -3.0892, -2.2515, -2.618, -1.0472, -1.972222054, -1.61443, -1.61443] motor_pos_upper_limit_list: [2.8798, 2.9671, 2.7576, 2.8798, 0.5236, 0.2618, 2.8798, 0.5236, 2.7576, 2.8798, 0.5236, 0.2618, 2.618, 0.52, 0.52, 2.6704, 2.2515, 2.618, 2.0944, 1.972222054, 1.61443, 1.61443, 2.6704, 1.5882, 2.618, 2.0944, 1.972222054, 1.61443, 1.61443] motor_vel_limit_list: [32.0, 32.0, 32.0, 20.0, 37.0, 37.0, 32.0, 32.0, 32.0, 20.0, 37.0, 37.0, 32.0, 37.0, 37.0, 37.0, 37.0, 37.0, 37.0, 37.0, 22.0, 22.0, 37.0, 37.0, 37.0, 37.0, 37.0, 22.0, 22.0] motor_effort_limit_list: [88.0, 88.0, 88.0, 139.0, 50.0, 50.0, 88.0, 88.0, 88.0, 139.0, 50.0, 50.0, 88.0, 50.0, 50.0, 25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0, 2.45, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0, 2.45, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7] history_config: { base_ang_vel: 4, projected_gravity: 4, command_lin_vel: 4, command_ang_vel: 4, command_base_height: 4, command_stand: 4, ref_upper_dof_pos: 4, dof_pos: 4, dof_vel: 4, actions: 4, # phase_time: 4, ref_motion_phase: 4, sin_phase: 4, cos_phase: 4 } history_loco_config: { base_ang_vel: 4, projected_gravity: 4, command_lin_vel: 4, command_ang_vel: 4, # command_base_height: 4, command_stand: 4, ref_upper_dof_pos: 4, dof_pos: 4, dof_vel: 4, actions: 4, # phase_time: 4, sin_phase: 4, cos_phase: 4 } history_loco_height_config: { base_ang_vel: 4, projected_gravity: 4, command_lin_vel: 4, command_ang_vel: 4, command_base_height: 4, command_stand: 4, ref_upper_dof_pos: 4, dof_pos: 4, dof_vel: 4, actions: 4, # phase_time: 4, sin_phase: 4, cos_phase: 4 } history_mimic_config: { base_ang_vel: 4, projected_gravity: 4, dof_pos: 4, dof_vel: 4, actions: 4, ref_motion_phase: 4, } obs_dims: { base_lin_vel: 3, base_ang_vel: 3, projected_gravity: 3, command_lin_vel: 2, command_ang_vel: 1, command_stand: 1, command_base_height: 1, ref_upper_dof_pos: 17, # upper body actions dof_pos: 29, dof_vel: 29, # actions: 12, # lower body actions actions: 29, # full body actions phase_time: 1, ref_motion_phase: 1, # mimic motion phase sin_phase: 1, cos_phase: 1, } obs_loco_dims: { base_lin_vel: 3, base_ang_vel: 3, projected_gravity: 3, command_lin_vel: 2, command_ang_vel: 1, command_stand: 1, command_base_height: 1, ref_upper_dof_pos: 17, # upper body actions dof_pos: 29, dof_vel: 29, actions: 12, # lower body actions phase_time: 1, sin_phase: 1, cos_phase: 1, } obs_mimic_dims: { base_lin_vel: 3, base_ang_vel: 3, projected_gravity: 3, dof_pos: 29, dof_vel: 29, actions: 29, # full body actions ref_motion_phase: 1, # mimic motion phase } obs_scales: { base_lin_vel: 2.0, base_ang_vel: 0.25, projected_gravity: 1.0, command_lin_vel: 1, command_ang_vel: 1, command_stand: 1, command_base_height: 2, # Yuanhang: it's 2, not 1! ref_upper_dof_pos: 1.0, dof_pos: 1.0, dof_vel: 0.05, history: 1.0, history_loco: 1.0, history_mimic: 1.0, actions: 1.0, phase_time: 1.0, ref_motion_phase: 1.0, sin_phase: 1.0, cos_phase: 1.0 } loco_upper_body_dof_pos: [ 0.0, 0.0, 0.0, # waist 0.0, 0.3, 0.0, 1.0, # left shoulder and elbow 0.0, 0.0, 0.0, # left wrist 0.0, -0.3, 0.0, 1.0, # right shoulder and elbow 0.0, 0.0, 0.0 # right wrist ] robot_dofs: { "g1_29dof": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "g1_29dof_anneal_23dof": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0], } mimic_robot_types: { "APT_level1": "g1_29dof_anneal_23dof", } # 01281657 mimic_models: { "APT_level1": "20250116_225127-TairanTestbed_G129dofANNEAL23dof_dm_APT_video_APT_level1_MinimalFriction-0.3_RfiTrue_Far0.325_RESUME_LARGENOISE-motion_tracking-g1_29dof_anneal_23dof/exported/model_176500.onnx", } start_upper_body_dof_pos: { "APT_level1": [0.19964170455932617, 0.07710712403059006, -0.2882401943206787, 0.21672365069389343, 0.15629297494888306, -0.5167576670646667, 0.5782126784324646, 0.0, 0.0, 0.0, 0.25740593671798706, -0.2504104673862457, 0.22500675916671753, 0.5127624273300171, 0.0, 0.0, 0.0], } motion_length_s: { "APT_level1": 7.66, }