| fabric: |
| _target_: lightning.fabric.Fabric |
| _convert_: all |
| accelerator: gpu |
| devices: ${ngpu} |
| num_nodes: ${nodes} |
| strategy: |
| _target_: lightning.fabric.strategies.DDPStrategy |
| precision: ${amp_precision} |
| loggers: |
| - _target_: lightning.fabric.loggers.TensorBoardLogger |
| root_dir: ${save_dir} |
| - _target_: lightning.pytorch.loggers.WandbLogger |
| name: ${experiment_name} |
| save_dir: ${save_dir} |
| project: ${wandb.wandb_project} |
| tags: ${wandb.wandb_tags} |
| group: ${wandb.wandb_group} |
| id: ${wandb.wandb_id} |
| entity: ${wandb.wandb_entity} |
| resume: ${wandb.wandb_resume} |
| ngpu: 1 |
| nodes: 1 |
| torch_deterministic: false |
| amp_precision: 32-true |
| eval_overrides: |
| ngpu: 1 |
| nodes: 1 |
| fabric: |
| loggers: null |
| headless: false |
| num_envs: 1 |
| agent: |
| config: |
| expert_model_path: null |
| vae: |
| noise_type: zeros |
| motion_manager: |
| motion_sampling: |
| init_start_prob: 1.0 |
| reset_track: |
| steps_min: 1000000 |
| steps_max: 1000001 |
| env: |
| config: |
| max_episode_length: 10000 |
| enable_height_termination: false |
| mimic_early_termination: null |
| agent: |
| _target_: protomotions.agents.masked_mimic.agent.MaskedMimic |
| _recursive_: false |
| config: |
| model: |
| _target_: protomotions.agents.masked_mimic.model.VaeDeterministicOutputModel |
| _recursive_: false |
| config: |
| vae_latent_dim: ${agent.config.vae.latent_dim} |
| vae_noise_type: ${agent.config.vae.noise_type} |
| trunk: |
| _target_: protomotions.agents.common.mlp.MultiHeadedMLP |
| _recursive_: false |
| num_out: ${robot.number_of_actions} |
| config: |
| input_models: |
| self_obs: |
| _target_: protomotions.agents.common.common.Flatten |
| _recursive_: false |
| num_in: ${env.config.humanoid_obs.obs_size} |
| num_out: ${.num_in} |
| config: |
| obs_key: self_obs |
| normalize_obs: true |
| norm_clamp_value: 5 |
| vae_latent: |
| _target_: protomotions.agents.common.common.Flatten |
| _recursive_: false |
| num_in: ${agent.config.vae.latent_dim} |
| num_out: ${.num_in} |
| config: |
| obs_key: vae_latent |
| normalize_obs: false |
| norm_clamp_value: null |
| terrain: ${agent.config.modules.mlp_terrain} |
| trunk: |
| _target_: protomotions.agents.common.mlp.MLP |
| _recursive_: false |
| num_out: ${robot.number_of_actions} |
| config: |
| layers: |
| - units: 1024 |
| activation: relu |
| use_layer_norm: false |
| - units: 1024 |
| activation: relu |
| use_layer_norm: false |
| - units: 512 |
| activation: relu |
| use_layer_norm: false |
| optimizer: |
| _target_: torch.optim.Adam |
| lr: 2.0e-05 |
| encoder: |
| _target_: protomotions.agents.masked_mimic.model.VaeModule |
| _recursive_: false |
| config: |
| trunk: |
| _target_: protomotions.agents.common.mlp.MultiHeadedMLP |
| _recursive_: false |
| num_out: 512 |
| config: |
| input_models: |
| self_obs: |
| _target_: protomotions.agents.common.common.Flatten |
| _recursive_: false |
| num_in: ${env.config.humanoid_obs.obs_size} |
| num_out: ${.num_in} |
| config: |
| obs_key: self_obs |
| normalize_obs: true |
| norm_clamp_value: 5 |
| mimic_target_poses: |
| _target_: protomotions.agents.common.common.Flatten |
| _recursive_: false |
| num_in: ${eval:${env.config.mimic_target_pose.num_future_steps}*${env.config.mimic_target_pose.num_obs_per_target_pose}} |
| num_out: ${.num_in} |
| config: |
| normalize_obs: true |
| norm_clamp_value: 5 |
| obs_key: mimic_target_poses |
| masked_mimic_target_bodies_masks: |
| _target_: protomotions.agents.common.common.Flatten |
| config: |
| normalize_obs: false |
| obs_clamp_value: null |
| obs_key: masked_mimic_target_bodies_masks |
| num_in: ${eval:${eval:${len:${robot.trackable_bodies_subset}}+1}*2*${env.config.masked_mimic.masked_mimic_target_pose.num_future_steps}} |
| num_out: ${.num_in} |
| trunk: |
| _target_: protomotions.agents.common.mlp.MLP |
| _recursive_: false |
| num_out: 512 |
| config: |
| layers: |
| - units: 1024 |
| activation: relu |
| use_layer_norm: false |
| - units: 1024 |
| activation: relu |
| use_layer_norm: false |
| - units: 1024 |
| activation: relu |
| use_layer_norm: false |
| - units: 1024 |
| activation: relu |
| use_layer_norm: false |
| - units: 1024 |
| activation: relu |
| use_layer_norm: false |
| mu_head: ${agent.config.modules.mlp_vae_output_head} |
| logvar_head: ${agent.config.modules.mlp_vae_output_head} |
| prior: |
| _target_: protomotions.agents.masked_mimic.model.VaeModule |
| _recursive_: false |
| config: |
| trunk: |
| _target_: protomotions.agents.common.transformer.Transformer |
| _recursive_: false |
| num_out: ${robot.number_of_actions} |
| config: |
| transformer_token_size: ${.latent_dim} |
| latent_dim: ${agent.config.modules.transformer_latent_dim} |
| ff_size: 1024 |
| num_layers: 4 |
| num_heads: 4 |
| dropout: 0 |
| activation: relu |
| use_layer_norm: false |
| input_models: |
| obs_mlp: |
| _target_: protomotions.agents.common.mlp.MLP_WithNorm |
| _recursive_: false |
| num_in: ${env.config.humanoid_obs.obs_size} |
| num_out: ${...transformer_token_size} |
| config: |
| mask_key: null |
| obs_key: self_obs |
| normalize_obs: true |
| norm_clamp_value: 5 |
| layers: |
| - units: ${agent.config.modules.transformer_encoder_widths} |
| activation: relu |
| use_layer_norm: false |
| - units: ${agent.config.modules.transformer_encoder_widths} |
| activation: relu |
| use_layer_norm: false |
| masked_mimic_target_poses: ${agent.config.modules.masked_mimic_target_pose_model} |
| historical_pose_obs: ${agent.config.modules.historical_pose_obs_model} |
| motion_text_embeddings: ${agent.config.modules.motion_text_embeddings_for_transformer_model} |
| mu_head: ${agent.config.modules.transformer_vae_output_head} |
| logvar_head: ${agent.config.modules.transformer_vae_output_head} |
| gamma: 0.99 |
| tau: 0.95 |
| e_clip: 0.2 |
| normalize_values: false |
| normalize_advantage: false |
| gradient_clip_val: 50.0 |
| clip_critic_loss: true |
| eval_metric_keys: |
| - cartesian_err |
| - gt_err |
| - dv_rew |
| - kb_rew |
| - lr_rew |
| - rv_rew |
| - rav_rew |
| - gr_err |
| - gr_err_degrees |
| - masked_gt_err |
| - masked_gr_err |
| - masked_gr_err_degrees |
| eval_length: null |
| eval_num_episodes: 1 |
| training_early_termination: |
| early_terminate_cart_err: null |
| early_terminate_success_rate: null |
| num_steps: 32 |
| fail_on_bad_grads: false |
| check_grad_mag: true |
| batch_size: 8192 |
| task_reward_w: 1.0 |
| num_mini_epochs: 6 |
| max_eval_steps: null |
| eval_metrics_every: 200 |
| num_games: null |
| manual_save_every: 10 |
| max_epochs: ${eval:${training_max_steps}//${ngpu}//${num_envs}//${.num_steps}} |
| expert_model_path: null |
| vae: |
| noise_type: normal |
| latent_dim: 64 |
| kld_schedule: |
| init_kld_coeff: 0.0001 |
| end_kld_coeff: 0.01 |
| start_epoch: 3000 |
| end_epoch: 6000 |
| extra_inputs: |
| mimic_target_poses: true |
| masked_mimic_target_poses: true |
| masked_mimic_target_bodies_masks: true |
| masked_mimic_target_poses_masks: true |
| motion_text_embeddings: true |
| motion_text_embeddings_mask: true |
| historical_pose_obs: true |
| terrain: true |
| modules: |
| mlp_vae_output_head: |
| _target_: protomotions.agents.common.mlp.MLP |
| _recursive_: false |
| num_in: 512 |
| num_out: ${agent.config.vae.latent_dim} |
| config: |
| layers: |
| - units: 256 |
| activation: relu |
| use_layer_norm: false |
| - units: 128 |
| activation: relu |
| use_layer_norm: false |
| transformer_latent_dim: 512 |
| transformer_encoder_widths: 256 |
| transformer_vae_output_head: |
| _target_: protomotions.agents.common.mlp.MLP |
| _recursive_: false |
| num_in: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} |
| num_out: ${agent.config.vae.latent_dim} |
| config: |
| layers: |
| - units: 256 |
| activation: relu |
| use_layer_norm: false |
| - units: 128 |
| activation: relu |
| use_layer_norm: false |
| masked_mimic_target_pose_model: |
| _target_: protomotions.agents.common.mlp.MLP_WithNorm |
| _recursive_: false |
| num_in: ${env.config.masked_mimic.masked_mimic_target_pose.num_obs_per_sparse_target_pose} |
| num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} |
| config: |
| obs_key: masked_mimic_target_poses |
| mask_key: masked_mimic_target_poses_masks |
| normalize_obs: true |
| norm_clamp_value: 5 |
| operations: |
| - type: reshape |
| new_shape: |
| - -1 |
| - ${env.config.masked_mimic.masked_mimic_target_pose.num_obs_per_sparse_target_pose} |
| - type: encode |
| - type: reshape |
| new_shape: |
| - batch_size |
| - ${eval:${env.config.masked_mimic.masked_mimic_target_pose.num_future_steps}+1} |
| - ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} |
| layers: |
| - units: ${agent.config.modules.transformer_encoder_widths} |
| activation: relu |
| use_layer_norm: false |
| - units: ${agent.config.modules.transformer_encoder_widths} |
| activation: relu |
| use_layer_norm: false |
| historical_pose_obs_model: |
| _target_: protomotions.agents.common.mlp.MLP_WithNorm |
| _recursive_: false |
| num_in: ${eval:${env.config.humanoid_obs.obs_size}+1} |
| num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} |
| config: |
| obs_key: historical_pose_obs |
| mask_key: null |
| normalize_obs: true |
| norm_clamp_value: 5 |
| operations: |
| - type: reshape |
| new_shape: |
| - -1 |
| - ${eval:${env.config.humanoid_obs.obs_size}+1} |
| - type: encode |
| - type: reshape |
| new_shape: |
| - batch_size |
| - ${env.config.masked_mimic.historical_obs.num_historical_conditioned_steps} |
| - ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} |
| layers: |
| - units: ${agent.config.modules.transformer_encoder_widths} |
| activation: relu |
| use_layer_norm: false |
| - units: ${agent.config.modules.transformer_encoder_widths} |
| activation: relu |
| use_layer_norm: false |
| motion_text_embeddings_for_transformer_model: |
| _target_: protomotions.agents.common.mlp.MLP_WithNorm |
| _recursive_: false |
| num_in: ${env.config.masked_mimic.motion_text_embeddings.embedding_dim} |
| num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} |
| config: |
| obs_key: motion_text_embeddings |
| mask_key: motion_text_embeddings_mask |
| normalize_obs: true |
| norm_clamp_value: 5 |
| operations: |
| - type: encode |
| - type: reshape |
| new_shape: |
| - batch_size |
| - 1 |
| - ${agent.config.modules.motion_text_embeddings_for_transformer_model.num_out} |
| layers: |
| - units: ${agent.config.modules.transformer_encoder_widths} |
| activation: relu |
| use_layer_norm: false |
| - units: ${agent.config.modules.transformer_encoder_widths} |
| activation: relu |
| use_layer_norm: false |
| mlp_terrain: |
| _target_: protomotions.agents.common.common.Flatten |
| num_in: ${terrain.config.terrain_obs_num_samples} |
| num_out: ${.num_in} |
| config: |
| obs_key: terrain |
| normalize_obs: true |
| norm_clamp_value: 5 |
| env: |
| _target_: protomotions.envs.mimic.env.Mimic |
| _recursive_: false |
| config: |
| experiment_name: ${experiment_name} |
| num_envs: ${num_envs} |
| headless: ${headless} |
| simulator: ${simulator} |
| max_episode_length: 1000 |
| robot: ${robot} |
| humanoid_obs: |
| use_max_coords_obs: true |
| obs_size: ${robot.self_obs_size} |
| local_root_obs: true |
| root_height_obs: true |
| num_historical_steps: 120 |
| termination_height: 0.15 |
| head_termination_height: 0.3 |
| enable_height_termination: false |
| motion_lib: ${motion_lib} |
| motion_manager: ${motion_manager} |
| hybrid_init_prob: 0.0 |
| state_init: Data |
| ref_respawn_offset: ${ref_respawn_offset} |
| terrain: ${terrain} |
| sync_motion: ${sync_motion} |
| scenes: null |
| mimic_residual_control: false |
| mimic_early_termination: |
| - mimic_early_termination_key: max_joint_err |
| mimic_early_termination_thresh: 0.5 |
| mimic_early_termination_thresh_on_flat: 0.25 |
| less_than: false |
| mimic_reward_config: |
| positive_constant: 0 |
| relative_kb_pos: false |
| add_rr_to_lr: true |
| rt_ignore_height: true |
| mean_before_exp: true |
| component_weights: |
| gr_rew_w: 0.3 |
| lr_rew_w: 0 |
| gt_rew_w: 0.5 |
| rt_rew_w: 0 |
| rv_rew_w: 0 |
| rav_rew_w: 0 |
| gv_rew_w: 0.1 |
| gav_rew_w: 0.1 |
| kb_rew_w: 0 |
| dv_rew_w: 0.0 |
| rh_rew_w: 0.2 |
| pow_rew_w: 1.0e-05 |
| component_coefficients: |
| gt_rew_c: -100 |
| rt_rew_c: -120 |
| rv_rew_c: -1 |
| rav_rew_c: -0.3 |
| gv_rew_c: -0.5 |
| gav_rew_c: -0.1 |
| kb_rew_c: -10 |
| gr_rew_c: -10 |
| lr_rew_c: -2 |
| dv_rew_c: -0.005 |
| rh_rew_c: -100 |
| kbf_rew_c: -0.01 |
| mimic_phase_obs: |
| enabled: false |
| mimic_target_pose: |
| enabled: true |
| type: max-coords-future-rel |
| with_time: true |
| with_contacts: false |
| num_future_steps: 15 |
| num_obs_per_target_pose: ${.base_num_obs_per_target_pose} |
| base_num_obs_per_target_pose: ${eval:${.num_obs_per_joint}*${robot.num_bodies}+1*${.with_time}} |
| num_obs_per_joint: 18 |
| masked_mimic: |
| enabled: true |
| masked_mimic_masking: |
| joint_masking: |
| masked_mimic_time_gap_probability: 0.1 |
| time_gap_mask_min_steps: 1 |
| time_gap_mask_max_steps: ${eval:${env.config.mimic_target_pose.num_future_steps}+1} |
| with_conditioning_time_gap_mask_max_steps: ${eval:${.time_gap_mask_max_steps}*4} |
| with_conditioning_max_gap_probability: 0.2 |
| masked_mimic_repeat_mask_probability: 0.98 |
| masked_mimic_fixed_conditioning: null |
| force_max_conditioned_bodies_prob: 0.1 |
| force_small_num_conditioned_bodies_prob: 0.1 |
| target_pose_visible_prob: 0.2 |
| motion_text_embeddings_visible_prob: 0.5 |
| masked_mimic_target_pose: |
| num_obs_per_sparse_target_pose: ${eval:${.num_obs_per_target_pose}*${eval:${len:${robot.trackable_bodies_subset}}+1}//${robot.num_bodies}+${eval:${len:${robot.trackable_bodies_subset}}+1}*2+2} |
| num_future_steps: 10 |
| num_obs_per_joint: 24 |
| num_obs_per_target_pose: ${eval:${.num_obs_per_joint}*${robot.num_bodies}} |
| motion_text_embeddings: |
| embedding_dim: 512 |
| historical_obs: |
| num_historical_conditioned_steps: 15 |
| robot: |
| dof_obs_size: 138 |
| number_of_actions: 69 |
| self_obs_size: ${.self_obs_max_coords_size} |
| self_obs_max_coords_size: 358 |
| num_bodies: ${len:${.body_names}} |
| contact_bodies: ${.body_names} |
| body_names: |
| - Pelvis |
| - L_Hip |
| - L_Knee |
| - L_Ankle |
| - L_Toe |
| - R_Hip |
| - R_Knee |
| - R_Ankle |
| - R_Toe |
| - Torso |
| - Spine |
| - Chest |
| - Neck |
| - Head |
| - L_Thorax |
| - L_Shoulder |
| - L_Elbow |
| - L_Wrist |
| - L_Hand |
| - R_Thorax |
| - R_Shoulder |
| - R_Elbow |
| - R_Wrist |
| - R_Hand |
| dof_names: |
| - L_Hip_x |
| - L_Hip_y |
| - L_Hip_z |
| - L_Knee_x |
| - L_Knee_y |
| - L_Knee_z |
| - L_Ankle_x |
| - L_Ankle_y |
| - L_Ankle_z |
| - L_Toe_x |
| - L_Toe_y |
| - L_Toe_z |
| - R_Hip_x |
| - R_Hip_y |
| - R_Hip_z |
| - R_Knee_x |
| - R_Knee_y |
| - R_Knee_z |
| - R_Ankle_x |
| - R_Ankle_y |
| - R_Ankle_z |
| - R_Toe_x |
| - R_Toe_y |
| - R_Toe_z |
| - Torso_x |
| - Torso_y |
| - Torso_z |
| - Spine_x |
| - Spine_y |
| - Spine_z |
| - Chest_x |
| - Chest_y |
| - Chest_z |
| - Neck_x |
| - Neck_y |
| - Neck_z |
| - Head_x |
| - Head_y |
| - Head_z |
| - L_Thorax_x |
| - L_Thorax_y |
| - L_Thorax_z |
| - L_Shoulder_x |
| - L_Shoulder_y |
| - L_Shoulder_z |
| - L_Elbow_x |
| - L_Elbow_y |
| - L_Elbow_z |
| - L_Wrist_x |
| - L_Wrist_y |
| - L_Wrist_z |
| - L_Hand_x |
| - L_Hand_y |
| - L_Hand_z |
| - R_Thorax_x |
| - R_Thorax_y |
| - R_Thorax_z |
| - R_Shoulder_x |
| - R_Shoulder_y |
| - R_Shoulder_z |
| - R_Elbow_x |
| - R_Elbow_y |
| - R_Elbow_z |
| - R_Wrist_x |
| - R_Wrist_y |
| - R_Wrist_z |
| - R_Hand_x |
| - R_Hand_y |
| - R_Hand_z |
| trackable_bodies_subset: |
| - Pelvis |
| - L_Ankle |
| - R_Ankle |
| - L_Hand |
| - R_Hand |
| - Head |
| dof_body_ids: |
| - 1 |
| - 2 |
| - 3 |
| - 4 |
| - 5 |
| - 6 |
| - 7 |
| - 8 |
| - 9 |
| - 10 |
| - 11 |
| - 12 |
| - 13 |
| - 14 |
| - 15 |
| - 16 |
| - 17 |
| - 18 |
| - 19 |
| - 20 |
| - 21 |
| - 22 |
| - 23 |
| dof_effort_limits: null |
| dof_vel_limits: null |
| dof_armatures: null |
| dof_joint_frictions: null |
| key_bodies: |
| - R_Ankle |
| - L_Ankle |
| - L_Hand |
| - R_Hand |
| non_termination_contact_bodies: |
| - R_Ankle |
| - L_Ankle |
| - R_Toe |
| - L_Toe |
| left_foot_name: L_Ankle |
| right_foot_name: R_Ankle |
| head_body_name: Head |
| init_state: null |
| contact_pairs_multiplier: 16 |
| num_key_bodies: ${len:${robot.key_bodies}} |
| mimic_small_marker_bodies: null |
| control: |
| control_type: built_in_pd |
| use_biased_controller: false |
| map_actions_to_pd_range: true |
| stiffness: null |
| damping: null |
| action_scale: 1.0 |
| clamp_actions: 1.0 |
| asset: |
| collapse_fixed_joints: null |
| replace_cylinder_with_capsule: null |
| flip_visual_attachments: null |
| armature: null |
| thickness: null |
| max_angular_velocity: null |
| max_linear_velocity: null |
| density: null |
| angular_damping: null |
| linear_damping: null |
| disable_gravity: null |
| fix_base_link: null |
| default_dof_drive_mode: 1 |
| robot_type: smpl_humanoid |
| asset_root: protomotions/data/assets |
| self_collisions: true |
| filter_ints: |
| - 0 |
| - 0 |
| - 7 |
| - 16 |
| - 12 |
| - 0 |
| - 56 |
| - 2 |
| - 33 |
| - 128 |
| - 0 |
| - 192 |
| - 0 |
| - 64 |
| - 0 |
| - 0 |
| - 0 |
| - 0 |
| - 0 |
| - 0 |
| - 0 |
| - 0 |
| - 0 |
| - 0 |
| asset_file_name: mjcf/smpl_humanoid.xml |
| usd_asset_file_name: usd/smpl_humanoid.usda |
| sim: |
| isaacgym: |
| fps: 60 |
| decimation: 2 |
| substeps: 2 |
| isaaclab: |
| fps: 120 |
| decimation: 4 |
| genesis: |
| fps: 60 |
| decimation: 2 |
| substeps: 2 |
| simulator: |
| _target_: protomotions.simulator.isaaclab.simulator.IsaacLabSimulator |
| _config_target_: protomotions.simulator.isaaclab.config.IsaacLabSimulatorConfig |
| _recursive_: false |
| config: |
| w_last: false |
| headless: ${headless} |
| robot: ${robot} |
| num_envs: ${num_envs} |
| plane: |
| static_friction: 1.0 |
| dynamic_friction: 1.0 |
| restitution: 0.0 |
| sim: |
| fps: ${robot.sim.isaaclab.fps} |
| decimation: ${robot.sim.isaaclab.decimation} |
| physx: |
| num_threads: 4 |
| solver_type: 1 |
| num_position_iterations: 4 |
| num_velocity_iterations: 0 |
| contact_offset: 0.02 |
| rest_offset: 0.0 |
| bounce_threshold_velocity: 0.2 |
| max_depenetration_velocity: 10.0 |
| default_buffer_size_multiplier: 10.0 |
| gpu_found_lost_pairs_capacity: ${eval:2**21} |
| gpu_max_rigid_contact_count: ${eval:2**23} |
| gpu_found_lost_aggregate_pairs_capacity: ${eval:2**25} |
| camera: null |
| record_viewer: false |
| viewer_record_dir: output/recordings/viewer |
| experiment_name: ${experiment_name} |
| motion_lib: |
| _target_: protomotions.utils.motion_lib.MotionLib |
| motion_file: ${motion_file} |
| ref_height_adjust: 0.0 |
| fix_motion_heights: true |
| motion_file: ??? |
| terrain: |
| _target_: protomotions.envs.base_env.env_utils.terrains.terrain.Terrain |
| config: |
| terrain_composition: curriculum |
| map_length: 20.0 |
| map_width: 20.0 |
| border_size: 40.0 |
| num_levels: 7 |
| num_terrains: 7 |
| terrain_proportions: |
| - 0.2 |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| - 0.05 |
| - 0.0 |
| - 0.0 |
| - 0.45 |
| slope_threshold: 0.9 |
| num_samples_per_axis: 16 |
| sample_width: 1 |
| terrain_obs_num_samples: ${eval:${.num_samples_per_axis}**2} |
| horizontal_scale: 0.1 |
| vertical_scale: 0.005 |
| spacing_between_scenes: 10 |
| minimal_humanoid_spacing: 0 |
| terrain_path: null |
| load_terrain: false |
| save_terrain: false |
| seed: 0 |
| training_max_steps: 100000000000 |
| codebase_version: 1.0 |
| headless: true |
| sync_motion: false |
| checkpoint: null |
| experiment_name: maskedmimic |
| base_dir: results |
| save_dir: ${base_dir}/${experiment_name} |
| num_envs: 2048 |
| motion_manager: |
| fixed_motion_per_env: false |
| fixed_motion_id: null |
| motion_index_offset: null |
| motion_sampling: |
| init_start_prob: 0.2 |
| reset_track: |
| steps_min: 10 |
| steps_max: 600 |
| grace_period: 5 |
| ref_respawn_offset: 0.05 |
| wandb: |
| wandb_project: physical_animation |
| wandb_tags: null |
| wandb_group: null |
| wandb_id: null |
| wandb_entity: null |
| wandb_resume: allow |
|
|
