Quadruped Config and Envs for Standing #88
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| @@ -96,7 +96,7 @@ def learn(self, num_learning_iterations: int, init_at_random_ep_len: bool = Fals | |||
| # initialize writer | |||
| if self.log_dir is not None and self.writer is None: | |||
| wandb.init( | |||
| project="XBot", | |||
| project="Quadruped Try", | |||
| @@ -0,0 +1,886 @@ | |||
| import os | |||
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sim/envs/base/quadruped_env.py
| dim=1, | ||
| ) | ||
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| # #Added from humanoids |
| }, | ||
| } | ||
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| # <limit effort="24" velocity="30" lower="-6.28" upper="6.28"/> for quad |
| # p_gains | ||
| @classmethod | ||
| def stiffness(cls) -> Dict[str, float]: | ||
| return {"Elbow_Pitch": 20, "Shoulder_Pitch": 20, "Hip_Pitch": 20, "Knee_Pitch": 20} # 20 for quad |
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