File size: 3,095 Bytes
89a62b6 | 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 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 | joint_ids_map: [0, 6, 12, 1, 7, 13, 2, 8, 14, 3, 9, 15, 22, 4, 10, 16, 23, 5, 11,
17, 24, 18, 25, 19, 26, 20, 27, 21, 28]
step_dt: 0.02
# heading-hold teleop trim (2026-07-09): cancels the rightward walking veer using the policy's own
# turning skill. Set enable: false to disable (= behavior identical to before the patch).
heading_hold: {enable: true, kp: 0.5, clamp: 0.1, stick_deadband: 0.05}
# 2026-07-14: waist +15% experiment REVERTED to originals (verdict was never collected and it
# confounded the PT20/PT22 real tests — e.g. PT22's body vibration). Re-run it as a dedicated
# A/B if still wanted; the +15% values were waist kp 46.2/32.8/32.8, kd 2.94/2.08/2.08.
stiffness: [40.2, 99.1, 40.2, 99.1, 28.5, 28.5, 40.2, 99.1, 40.2, 99.1, 28.5, 28.5,
40.2, 28.5, 28.5, 14.3, 14.3, 14.3, 14.3, 14.3, 16.8, 16.8, 14.3, 14.3, 14.3, 14.3,
14.3, 16.8, 16.8]
damping: [2.56, 6.31, 2.56, 6.31, 1.81, 1.81, 2.56, 6.31, 2.56, 6.31, 1.81, 1.81,
2.56, 1.81, 1.81, 0.907, 0.907, 0.907, 0.907, 0.907, 1.07, 1.07, 0.907, 0.907, 0.907,
0.907, 0.907, 1.07, 1.07]
default_joint_pos: [-0.264, -0.245, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49, 0.476,
0.3, 0.3, -0.216, -0.199, 0.25, -0.25, 0.0, 0.0, 0.0, 0.0, 0.97, 0.97, 0.15, -0.15,
0.0, 0.0, 0.0, 0.0]
commands:
base_velocity:
ranges:
lin_vel_x: [-0.5, 1.0]
lin_vel_y: [-0.5, 0.5]
ang_vel_z: [-0.7, 0.7]
heading: null
actions:
JointPositionAction:
clip: null
joint_names: [.*]
scale: [0.548, 0.548, 0.548, 0.351, 0.351, 0.439, 0.548, 0.548, 0.439, 0.351,
0.351, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439,
0.439, 0.439, 0.439, 0.439, 0.0745, 0.0745, 0.0745, 0.0745]
offset: [-0.264, -0.245, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49, 0.476, 0.3,
0.3, -0.216, -0.199, 0.25, -0.25, 0.0, 0.0, 0.0, 0.0, 0.97, 0.97, 0.15, -0.15,
0.0, 0.0, 0.0, 0.0]
joint_ids: null
observations:
base_ang_vel:
params: {}
clip: null
scale: [0.2, 0.2, 0.2]
history_length: 5
projected_gravity:
params: {}
clip: null
scale: [1.0, 1.0, 1.0]
history_length: 5
velocity_commands:
params: {command_name: base_velocity}
clip: null
scale: [1.0, 1.0, 1.0]
history_length: 5
joint_pos_rel:
params: {}
clip: null
scale: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
history_length: 5
joint_vel_rel:
params: {}
clip: null
scale: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05,
0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05,
0.05, 0.05, 0.05, 0.05]
history_length: 5
last_action:
params: {}
clip: null
scale: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
history_length: 5
gait_phase_legs:
params: {period: 1.0}
clip: null
scale: [1.0, 1.0, 1.0, 1.0]
history_length: 5
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