| seed: 0 |
| codebase_version: 1.0 |
| headless: true |
| num_envs: 76 |
| auto_load_latest: false |
| checkpoint: null |
| project_name: RSS_Baseline_Experiment |
| experiment_name: run_student_distill |
| base_dir: logs |
| timestamp: ${now:%Y%m%d_%H%M%S} |
| experiment_dir: ${base_dir}/${project_name}/${timestamp}-${experiment_name}-${log_task_name}-${robot.asset.robot_type} |
| save_dir: ${experiment_dir}/.hydra |
| force_flat_terrain: false |
| use_wandb: false |
| log_task_name: motion_tracking |
| sim_type: isaacgym |
| env_spacing: 20 |
| output_dir: ${experiment_dir}/output |
| eval_overrides: |
| headless: false |
| num_envs: 1 |
| auto_load_latest: false |
| use_wandb: false |
| env: |
| config: |
| max_episode_length_s: 100000 |
| algo: |
| _target_: humanoidverse.agents.ppo.ppo_mimic.PPO |
| _recursive_: false |
| config: |
| num_learning_epochs: 5 |
| num_mini_batches: 4 |
| clip_param: 0.2 |
| gamma: 0.99 |
| lam: 0.95 |
| value_loss_coef: 1.0 |
| entropy_coef: 0.005 |
| l2c2: |
| enable: false |
| lambda_value: 1.0 |
| lambda_policy: 0.1 |
| dagger_only: true |
| dagger_update_freq: 20 |
| teacher_model_path: logs/RSS_Baseline_Experiment/run/model_49000.pt |
| learning_rate: 0.0001 |
| priv_reg_coef_schedual: |
| - 0 |
| - 0.1 |
| - 2000 |
| - 3000 |
| max_grad_norm: 1.0 |
| use_clipped_value_loss: true |
| schedule: adaptive |
| desired_kl: 0.01 |
| num_steps_per_env: 24 |
| save_interval: 1000 |
| logging_interval: 25 |
| load_optimizer: true |
| init_noise_std: 1.0 |
| num_learning_iterations: 1000000 |
| init_at_random_ep_len: true |
| eval_callbacks: null |
| module_dict: |
| actor: |
| input_dim: |
| - actor_obs |
| - ${algo.config.module_dict.actor.motion_encoder.output_dim} |
| - ${algo.config.module_dict.actor.history_encoder.output_dim} |
| output_dim: |
| - robot_action_dim |
| layer_config: |
| type: MLP |
| hidden_dims: |
| - 768 |
| - 512 |
| - 256 |
| activation: SiLU |
| use_layernorm: true |
| max_sigma: 1.2 |
| min_sigma: 0.2 |
| fix_sigma: false |
| motion_encoder: |
| tsteps: ${obs.future_num_steps} |
| input_dim: |
| - future_motion_targets |
| hidden_dim: 60 |
| output_dim: 128 |
| layer_config: |
| type: Conv1d |
| activation: SiLU |
| history_encoder: |
| tsteps: ${obs.history_length} |
| input_dim: |
| - prop_history |
| hidden_dim: 30 |
| output_dim: 64 |
| layer_config: |
| type: Conv1d |
| activation: SiLU |
| priv_encoder: |
| input_dim: |
| - priv_obs |
| output_dim: |
| - ${algo.config.module_dict.actor.history_encoder.output_dim} |
| layer_config: |
| type: MLP |
| hidden_dims: |
| - 64 |
| activation: SiLU |
| critic: |
| input_dim: |
| - actor_obs |
| - priv_obs |
| - ${algo.config.module_dict.actor.motion_encoder.output_dim} |
| output_dim: |
| - 1 |
| use_layernorm: true |
| layer_config: |
| type: MLP |
| hidden_dims: |
| - 768 |
| - 512 |
| - 256 |
| activation: SiLU |
| env: |
| _target_: humanoidverse.envs.motion_tracking.general_tracking.LeggedRobotGeneralTracking |
| _recursive_: false |
| config: |
| experiment_name: ${experiment_name} |
| num_envs: ${num_envs} |
| headless: ${headless} |
| simulator: ${simulator} |
| save_rendering_dir: null |
| ckpt_dir: null |
| robot: ${robot} |
| domain_rand: ${domain_rand} |
| rewards: ${rewards} |
| terrain: ${terrain} |
| obs: ${obs} |
| env_spacing: 5.0 |
| max_episode_length_s: 100000 |
| use_vec_reward: false |
| normalization: |
| clip_actions: 100.0 |
| clip_observations: 100.0 |
| termination: |
| terminate_when_close_to_dof_pos_limit: false |
| terminate_when_close_to_dof_vel_limit: false |
| terminate_when_close_to_torque_limit: false |
| terminate_by_contact: false |
| terminate_by_gravity: false |
| terminate_by_low_height: false |
| terminate_when_motion_end: true |
| terminate_when_motion_far: false |
| terminate_when_local_motion_far: false |
| terminate_by_ref_pos_z: true |
| terminate_by_ref_ori: true |
| terminate_by_body_z: true |
| terminate_when_dof_far: false |
| termination_scales: |
| termination_close_to_dof_pos_limit: 0.98 |
| termination_close_to_dof_vel_limit: 0.98 |
| termination_close_to_torque_limit: 0.98 |
| termination_min_base_height: 0.2 |
| termination_gravity_x: 0.8 |
| termination_gravity_y: 0.8 |
| termination_gravity: 0.75 |
| termination_motion_far_threshold: 1.5 |
| terminate_by_ref_pos_z_threshold: 0.25 |
| terminate_by_ref_ori_threshold: 0.8 |
| terminate_by_body_z_threshold: 0.25 |
| termination_probality: |
| terminate_when_close_to_dof_pos_limit: 0.25 |
| terminate_when_close_to_dof_vel_limit: 0.25 |
| terminate_when_close_to_torque_limit: 0.25 |
| termination_curriculum: |
| terminate_when_motion_far_curriculum: false |
| terminate_when_motion_far_initial_threshold: 1.5 |
| terminate_when_motion_far_threshold_max: 2.0 |
| terminate_when_motion_far_threshold_min: 0.3 |
| terminate_when_motion_far_curriculum_degree: 2.5e-05 |
| terminate_when_motion_far_curriculum_level_down_threshold: 40 |
| terminate_when_motion_far_curriculum_level_up_threshold: 42 |
| resample_motion_when_training: true |
| resample_time_interval_s: 1000 |
| resample_strategy: default |
| noise_to_initial_level: 0 |
| init_noise_scale: |
| dof_pos: 0.1 |
| dof_vel: 0.15 |
| root_pos: 0.05 |
| root_rot: 10 |
| root_vel: 0.01 |
| root_ang_vel: 0.01 |
| use_teleop_control: false |
| enforce_randomize_motion_start_eval: false |
| robot: |
| only_track_leg: ??? |
| dof_obs_size: 23 |
| number_of_actions: ??? |
| self_obs_max_coords: ??? |
| num_bodies: 24 |
| algo_obs_dim_dict: ??? |
| key_bodies: |
| - left_knee_link |
| - left_ankle_roll_link |
| - right_knee_link |
| - right_ankle_roll_link |
| - left_elbow_link |
| - right_elbow_link |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| contact_bodies: |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| foot_name: ankle_roll_link |
| init_state: |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.8 |
| rot: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| lin_vel: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| default_joint_angles: |
| left_hip_pitch_joint: -0.1 |
| left_hip_roll_joint: 0.0 |
| left_hip_yaw_joint: 0.0 |
| left_knee_joint: 0.3 |
| left_ankle_pitch_joint: -0.2 |
| left_ankle_roll_joint: 0.0 |
| right_hip_pitch_joint: -0.1 |
| right_hip_roll_joint: 0.0 |
| right_hip_yaw_joint: 0.0 |
| right_knee_joint: 0.3 |
| right_ankle_pitch_joint: -0.2 |
| 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: 0.2 |
| left_shoulder_roll_joint: 0.2 |
| left_shoulder_yaw_joint: 0.0 |
| left_elbow_joint: 0.9 |
| right_shoulder_pitch_joint: 0.2 |
| right_shoulder_roll_joint: -0.2 |
| right_shoulder_yaw_joint: 0.0 |
| right_elbow_joint: 0.9 |
| contact_pairs_multiplier: 16 |
| num_key_bodies: 9 |
| mimic_small_marker_bodies: null |
| control: |
| control_type: P |
| stiffness: |
| hip_yaw: 40.17923847137318 |
| hip_roll: 99.09842777666113 |
| hip_pitch: 40.17923847137318 |
| knee: 99.09842777666113 |
| ankle_pitch: 28.50124619574858 |
| ankle_roll: 28.50124619574858 |
| waist_yaw: 40.17923847137318 |
| waist_roll: 28.50124619574858 |
| waist_pitch: 28.50124619574858 |
| shoulder_pitch: 14.25062309787429 |
| shoulder_roll: 14.25062309787429 |
| shoulder_yaw: 14.25062309787429 |
| elbow: 14.25062309787429 |
| damping: |
| hip_yaw: 2.5578897650279457 |
| hip_roll: 6.3088018534966395 |
| hip_pitch: 2.5578897650279457 |
| knee: 6.3088018534966395 |
| ankle_pitch: 1.814445686584846 |
| ankle_roll: 1.814445686584846 |
| waist_yaw: 2.5578897650279457 |
| waist_roll: 1.814445686584846 |
| waist_pitch: 1.814445686584846 |
| shoulder_pitch: 0.907222843292423 |
| shoulder_roll: 0.907222843292423 |
| shoulder_yaw: 0.907222843292423 |
| elbow: 0.907222843292423 |
| action_scale: |
| hip_yaw: 0.5475464652142303 |
| hip_roll: 0.3506614663788243 |
| hip_pitch: 0.5475464652142303 |
| knee: 0.3506614663788243 |
| ankle_pitch: 0.43857731392336724 |
| ankle_roll: 0.43857731392336724 |
| waist_roll: 0.43857731392336724 |
| waist_pitch: 0.43857731392336724 |
| waist_yaw: 0.5475464652142303 |
| shoulder_pitch: 0.43857731392336724 |
| shoulder_roll: 0.43857731392336724 |
| shoulder_yaw: 0.43857731392336724 |
| elbow: 0.43857731392336724 |
| isaac_pd_scale: false |
| clamp_actions: 1.0 |
| clip_torques: true |
| dof_armature: |
| left_hip_pitch_joint: 0.01017752 |
| left_hip_roll_joint: 0.025101925 |
| left_hip_yaw_joint: 0.01017752 |
| left_knee_joint: 0.025101925 |
| left_ankle_pitch_joint: 0.00721945 |
| left_ankle_roll_joint: 0.00721945 |
| right_hip_pitch_joint: 0.01017752 |
| right_hip_roll_joint: 0.025101925 |
| right_hip_yaw_joint: 0.01017752 |
| right_knee_joint: 0.025101925 |
| right_ankle_pitch_joint: 0.00721945 |
| right_ankle_roll_joint: 0.00721945 |
| waist_yaw_joint: 0.01017752 |
| waist_roll_joint: 0.00721945 |
| waist_pitch_joint: 0.00721945 |
| left_shoulder_pitch_joint: 0.003609725 |
| left_shoulder_roll_joint: 0.003609725 |
| left_shoulder_yaw_joint: 0.003609725 |
| left_elbow_joint: 0.003609725 |
| right_shoulder_pitch_joint: 0.003609725 |
| right_shoulder_roll_joint: 0.003609725 |
| right_shoulder_yaw_joint: 0.003609725 |
| right_elbow_joint: 0.003609725 |
| action_clip_value: 100.0 |
| asset: |
| collapse_fixed_joints: true |
| replace_cylinder_with_capsule: true |
| flip_visual_attachments: false |
| armature: 0.001 |
| thickness: 0.01 |
| max_angular_velocity: 1000.0 |
| max_linear_velocity: 1000.0 |
| density: 0.001 |
| angular_damping: 0.0 |
| linear_damping: 0.0 |
| disable_gravity: null |
| fix_base_link: false |
| default_dof_drive_mode: 3 |
| robot_type: g1_23dof_lock_wrist |
| urdf_file: g1/g1_23dof_lock_wrist_rev_2.urdf |
| usd_file: g1/${robot.asset.robot_type}.usd |
| xml_file: g1/${robot.asset.robot_type}.xml |
| asset_root: description/robots |
| self_collisions: 0 |
| filter_ints: null |
| actions_dim: 23 |
| lower_body_actions_dim: 15 |
| upper_body_actions_dim: 8 |
| policy_obs_dim: -1 |
| critic_obs_dim: -1 |
| num_feet: 2 |
| right_foot_name: right_ankle_roll_link |
| left_foot_name: left_ankle_roll_link |
| knee_name: knee_link |
| has_torso: true |
| torso_name: torso_link |
| has_upper_body_dof: true |
| dof_names: |
| - left_hip_pitch_joint |
| - left_hip_roll_joint |
| - left_hip_yaw_joint |
| - left_knee_joint |
| - left_ankle_pitch_joint |
| - left_ankle_roll_joint |
| - right_hip_pitch_joint |
| - right_hip_roll_joint |
| - right_hip_yaw_joint |
| - right_knee_joint |
| - right_ankle_pitch_joint |
| - right_ankle_roll_joint |
| - waist_yaw_joint |
| - waist_roll_joint |
| - waist_pitch_joint |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| upper_dof_names: |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| upper_left_arm_dof_names: |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| upper_right_arm_dof_names: |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| lower_dof_names: |
| - left_hip_pitch_joint |
| - left_hip_roll_joint |
| - left_hip_yaw_joint |
| - left_knee_joint |
| - left_ankle_pitch_joint |
| - left_ankle_roll_joint |
| - right_hip_pitch_joint |
| - right_hip_roll_joint |
| - right_hip_yaw_joint |
| - right_knee_joint |
| - right_ankle_pitch_joint |
| - right_ankle_roll_joint |
| - waist_yaw_joint |
| - waist_roll_joint |
| - waist_pitch_joint |
| waist_dof_names: |
| - waist_yaw_joint |
| - waist_roll_joint |
| - waist_pitch_joint |
| dof_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 |
| - -3.0892 |
| - -2.2515 |
| - -2.618 |
| - -1.0472 |
| dof_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 |
| - 2.6704 |
| - 1.5882 |
| - 2.618 |
| - 2.0944 |
| dof_vel_limit_list: |
| - 32.0 |
| - 20.0 |
| - 32.0 |
| - 20.0 |
| - 37.0 |
| - 37.0 |
| - 32.0 |
| - 20.0 |
| - 32.0 |
| - 20.0 |
| - 37.0 |
| - 37.0 |
| - 32.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| dof_effort_limit_list: |
| - 88.0 |
| - 139.0 |
| - 88.0 |
| - 139.0 |
| - 50.0 |
| - 50.0 |
| - 88.0 |
| - 139.0 |
| - 88.0 |
| - 139.0 |
| - 50.0 |
| - 50.0 |
| - 88.0 |
| - 50.0 |
| - 50.0 |
| - 25.0 |
| - 25.0 |
| - 25.0 |
| - 25.0 |
| - 25.0 |
| - 25.0 |
| - 25.0 |
| - 25.0 |
| dof_armature_list: |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.04 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| dof_joint_friction_list: |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| - 0.03 |
| body_names: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| terminate_after_contacts_on: |
| - pelvis |
| - shoulder |
| - hip |
| penalize_contacts_on: |
| - pelvis |
| - shoulder |
| - hip |
| - torso |
| - waist |
| - elbow |
| motion: |
| motion_lib_type: origin |
| motion_file: example/motion_data/categorized_rss/run/merged_motion.pkl |
| asset: |
| assetRoot: description/robots/g1/ |
| assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml |
| humanoid_type: g1_23dof_lock_wrist |
| bias_offset: false |
| has_self_collision: true |
| has_mesh: false |
| has_jt_limit: false |
| has_dof_subset: true |
| has_upright_start: true |
| has_smpl_pd_offset: false |
| remove_toe: false |
| motion_sym_loss: false |
| sym_loss_coef: 1 |
| big_ankle: true |
| has_shape_obs: false |
| has_shape_obs_disc: false |
| has_shape_variation: false |
| masterfoot: false |
| freeze_toe: false |
| freeze_hand: false |
| box_body: true |
| real_weight: true |
| real_weight_porpotion_capsules: true |
| real_weight_porpotion_boxes: true |
| body_names: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| limb_weight_group: |
| - - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - - pelvis |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| dof_names: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| right_foot_name: r_foot_roll |
| left_foot_name: l_foot_roll |
| nums_extend_bodies: 3 |
| extend_config: |
| - joint_name: left_hand_link |
| parent_name: left_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: right_hand_link |
| parent_name: right_elbow_link |
| pos: |
| - 0.25 |
| - 0.0 |
| - 0.0 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - joint_name: head_link |
| parent_name: torso_link |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.42 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| motion_tracking_link: |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| lower_body_link: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| upper_body_link: |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - left_hand_link |
| - right_hand_link |
| - head_link |
| pelvis_link: pelvis |
| base_link: torso_link |
| hips_link: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| joint_matches: |
| - - pelvis |
| - Pelvis |
| - - left_hip_pitch_link |
| - L_Hip |
| - - left_knee_link |
| - L_Knee |
| - - left_ankle_roll_link |
| - L_Ankle |
| - - right_hip_pitch_link |
| - R_Hip |
| - - right_knee_link |
| - R_Knee |
| - - right_ankle_roll_link |
| - R_Ankle |
| - - left_shoulder_roll_link |
| - L_Shoulder |
| - - left_elbow_link |
| - L_Elbow |
| - - left_hand_link |
| - L_Hand |
| - - right_shoulder_roll_link |
| - R_Shoulder |
| - - right_elbow_link |
| - R_Elbow |
| - - right_hand_link |
| - R_Hand |
| - - head_link |
| - Head |
| smpl_pose_modifier: |
| - Pelvis: '[np.pi/2, 0, np.pi/2]' |
| - L_Shoulder: '[0, 0, -np.pi/2]' |
| - R_Shoulder: '[0, 0, np.pi/2]' |
| - L_Elbow: '[0, -np.pi/2, 0]' |
| - R_Elbow: '[0, np.pi/2, 0]' |
| visualization: |
| customize_color: true |
| marker_joint_colors: |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0.929 |
| - 0.867 |
| - 0.437 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| - - 0 |
| - 0.351 |
| - 0.613 |
| terrain: |
| static_friction: 1.0 |
| dynamic_friction: 1.0 |
| restitution: 0.0 |
| mesh_type: plane |
| horizontal_scale: 0.1 |
| vertical_scale: 0.005 |
| border_size: 40 |
| curriculum: false |
| measure_heights: false |
| measured_points_x: |
| - 0.0 |
| measured_points_y: |
| - 0.0 |
| selected: false |
| terrain_kwargs: null |
| max_init_terrain_level: 9 |
| terrain_length: 8.0 |
| terrain_width: 8.0 |
| num_rows: 10 |
| num_cols: 20 |
| terrain_types: |
| - flat |
| - rough |
| - low_obst |
| - smooth_slope |
| - rough_slope |
| terrain_proportions: |
| - 0.2 |
| - 0.6 |
| - 0.2 |
| - 0.0 |
| - 0.0 |
| slope_treshold: 0.75 |
| simulator: |
| _target_: humanoidverse.simulator.isaacgym.isaacgym.IsaacGym |
| _recursive_: false |
| config: |
| name: isaacgym |
| terrain: ${terrain} |
| sim: |
| fps: 200 |
| control_decimation: 4 |
| substeps: 1 |
| physx: |
| num_threads: 4 |
| solver_type: 1 |
| num_position_iterations: 4 |
| num_velocity_iterations: 0 |
| contact_offset: 0.01 |
| rest_offset: 0.0 |
| bounce_threshold_velocity: 0.5 |
| max_depenetration_velocity: 1.0 |
| default_buffer_size_multiplier: 5 |
| contact_collection: 2 |
| domain_rand: |
| push_robots: true |
| push_interval_s: |
| - 5 |
| - 10 |
| max_push_vel_xy: 0.1 |
| randomize_base_com: true |
| base_com_range: |
| x: |
| - -0.05 |
| - 0.05 |
| 'y': |
| - -0.05 |
| - 0.05 |
| z: |
| - -0.01 |
| - 0.01 |
| randomize_link_mass: true |
| link_mass_range: |
| - 0.9 |
| - 1.1 |
| randomize_pd_gain: true |
| kp_range: |
| - 0.9 |
| - 1.1 |
| kd_range: |
| - 0.9 |
| - 1.1 |
| randomize_friction: true |
| friction_range: |
| - 0.2 |
| - 1.2 |
| randomize_base_mass: false |
| randomize_torque_rfi: true |
| rfi_lim: 0.05 |
| randomize_rfi_lim: true |
| rfi_lim_range: |
| - 0.5 |
| - 1.5 |
| randomize_ctrl_delay: true |
| ctrl_delay_step_range: |
| - 0 |
| - 2 |
| reinit_epis_rand: -1 |
| _push_fixed: true |
| randomize_link_com: false |
| link_com_range: |
| x: |
| - -0.01 |
| - 0.01 |
| 'y': |
| - -0.01 |
| - 0.01 |
| z: |
| - -0.01 |
| - 0.01 |
| randomize_link_body_names: |
| - pelvis |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - left_hip_yaw_link |
| - left_hip_roll_link |
| - left_hip_pitch_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_yaw_link |
| - right_hip_roll_link |
| - right_hip_pitch_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| randomize_link_inertia: true |
| link_inertia_range: |
| - 0.9 |
| - 1.1 |
| randomize_link_inertia_names: |
| - pelvis |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - left_hip_yaw_link |
| - left_hip_roll_link |
| - left_hip_pitch_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_yaw_link |
| - right_hip_roll_link |
| - right_hip_pitch_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| heavy_upper: |
| enable: false |
| ratio: 1.1 |
| body_names: |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| parallel_serial_pd: |
| enable: false |
| ratio: |
| - 0.8 |
| - 1.2 |
| joint_idx: |
| - 4 |
| - 5 |
| - 10 |
| - 11 |
| - 13 |
| - 14 |
| randomize_restitution: false |
| restitution_range: |
| - 0.0 |
| - 1.0 |
| added_mass_range: |
| - -5.0 |
| - 10.0 |
| use_rao: true |
| rao_lim: 0.05 |
| randomize_motion_ref_xyz: false |
| motion_ref_xyz_range: |
| - - -0.02 |
| - 0.02 |
| - - -0.02 |
| - 0.02 |
| - - -0.1 |
| - 0.1 |
| motion_package_loss: false |
| package_loss_range: |
| - 1 |
| - 10 |
| package_loss_interval_s: 2 |
| born_offset: false |
| born_offset_curriculum: false |
| born_offset_level_down_threshold: 50 |
| born_offset_level_up_threshold: 120 |
| level_degree: 5.0e-05 |
| born_distance: 0.25 |
| born_offset_range: |
| - 0.0 |
| - 1 |
| born_offset_possibility: 1.0 |
| born_heading_curriculum: false |
| born_heading_randomization: false |
| born_heading_level_down_threshold: 50 |
| born_heading_level_up_threshold: 120 |
| born_heading_degree: 10 |
| born_heading_range: |
| - 0 |
| - 180 |
| born_heading_level_degree: 5.0e-05 |
| rewards: |
| set_reward: jinrui |
| set_reward_date: 20250810 |
| only_positive_rewards: false |
| reward_scales: |
| teleop_root_vel: 1.0 |
| teleop_anchor_body_position: 1.5 |
| teleop_anchor_body_rotation: 1.5 |
| local_key_body_position: 3.0 |
| local_key_body_rotation: 2.0 |
| key_body_velocity: 2.0 |
| key_body_ang_velocity: 2.0 |
| penalty_action_rate: -0.1 |
| penalty_dof_vel: -0.0001 |
| penalty_dof_acc: -3.0e-07 |
| foot_slip_penalty: -0.1 |
| limits_dof_pos: -10.0 |
| limits_torque: -5.0 |
| termination: -200.0 |
| collision: -30.0 |
| reward_tracking_sigma: |
| local_key_body_pos: 0.1 |
| local_key_body_rot: 0.15 |
| key_body_vel: 1.0 |
| key_body_ang_vel: 10.0 |
| teleop_anchor_body_pos: 0.1 |
| teleop_anchor_body_rot: 0.15 |
| teleop_root_vel: 1.0 |
| adaptive_tracking_sigma: |
| enable: false |
| alpha: 0.001 |
| type: mean |
| scale: 1.0 |
| desired_feet_air_time: 0.5 |
| reward_penalty_curriculum: false |
| reward_initial_penalty_scale: 0.1 |
| reward_min_penalty_scale: 0.0 |
| reward_max_penalty_scale: 1.0 |
| reward_penalty_level_down_threshold: 40 |
| reward_penalty_level_up_threshold: 42 |
| reward_penalty_degree: 1.0e-05 |
| num_compute_average_epl: 10000 |
| reward_limit: |
| soft_dof_pos_limit: 0.9 |
| soft_dof_vel_limit: 0.9 |
| soft_torque_limit: 0.825 |
| reward_limits_curriculum: |
| soft_dof_pos_curriculum: true |
| soft_dof_pos_initial_limit: 0.95 |
| soft_dof_pos_max_limit: 0.95 |
| soft_dof_pos_min_limit: 0.95 |
| soft_dof_pos_curriculum_degree: 2.5e-07 |
| soft_dof_pos_curriculum_level_down_threshold: 40 |
| soft_dof_pos_curriculum_level_up_threshold: 42 |
| soft_dof_vel_curriculum: true |
| soft_dof_vel_initial_limit: 0.95 |
| soft_dof_vel_max_limit: 0.95 |
| soft_dof_vel_min_limit: 0.95 |
| soft_dof_vel_curriculum_degree: 2.5e-07 |
| soft_dof_vel_curriculum_level_down_threshold: 40 |
| soft_dof_vel_curriculum_level_up_threshold: 42 |
| soft_torque_curriculum: true |
| soft_torque_initial_limit: 0.85 |
| soft_torque_max_limit: 0.85 |
| soft_torque_min_limit: 0.85 |
| soft_torque_curriculum_degree: 2.5e-07 |
| soft_torque_curriculum_level_down_threshold: 40 |
| soft_torque_curriculum_level_up_threshold: 42 |
| reward_penalty_reward_names: |
| - penalty_action_rate |
| - penalty_dof_vel |
| - penalty_dof_acc |
| - limits_dof_pos |
| - limits_torque |
| - foot_slip_penalty |
| obs: |
| history_length: 10 |
| future_max_steps: 95 |
| future_num_steps: 20 |
| masked_dof_vel: false |
| motion_file: ??? |
| obs_dict: |
| actor_obs: |
| - dof_pos |
| - dof_vel |
| - actions |
| - next_step_ref_motion |
| - history |
| priv_obs: |
| - contact_mask |
| - root_height |
| - dr_base_com |
| - dr_base_mass |
| - dr_kp |
| - dr_kd |
| - dr_friction |
| future_motion_targets: |
| - future_motion_root_height |
| - future_motion_roll_pitch |
| - future_motion_base_lin_vel |
| - future_motion_base_yaw_vel |
| - future_motion_dof_pos |
| prop_history: |
| - history |
| obs_auxiliary: |
| history: |
| dof_pos: ${obs.history_length} |
| dof_vel: ${obs.history_length} |
| actions: ${obs.history_length} |
| obs_scales: |
| base_lin_vel: 2.0 |
| base_ang_vel: 0.25 |
| dof_pos: 1.0 |
| dof_vel: 0.05 |
| actions: 1.0 |
| local_key_body_pos: 1.0 |
| local_key_body_rot: 1.0 |
| anchor_ref_pos: 1.0 |
| anchor_ref_rot: 1.0 |
| history: 1.0 |
| dr_base_com: 1.0 |
| dr_base_mass: 1.0 |
| dr_kp: 1.0 |
| dr_kd: 1.0 |
| dr_friction: 1.0 |
| dr_ctrl_delay: 1.0 |
| contact_mask: 1.0 |
| root_height: 1.0 |
| roll_pitch: 1.0 |
| future_motion_root_height: 1.0 |
| future_motion_roll_pitch: 1.0 |
| future_motion_base_lin_vel: 1.0 |
| future_motion_base_yaw_vel: 1.0 |
| future_motion_dof_pos: 1.0 |
| future_motion_local_ref_key_body_pos: 1.0 |
| next_step_ref_motion: 1.0 |
| noise_scales: |
| base_lin_vel: 0.0 |
| base_ang_vel: 0.3 |
| dof_pos: 0.01 |
| dof_vel: 0.15 |
| actions: 0.0 |
| local_key_body_pos: 0.0 |
| local_key_body_rot: 0.0 |
| anchor_ref_pos: 0.0 |
| anchor_ref_rot: 0.0 |
| history: 0.0 |
| dr_base_com: 0.0 |
| dr_base_mass: 0.0 |
| dr_kp: 0.0 |
| dr_kd: 0.0 |
| dr_friction: 0.0 |
| dr_ctrl_delay: 0.0 |
| contact_mask: 0.0 |
| root_height: 0.0 |
| roll_pitch: 0.2 |
| future_motion_root_height: 0.0 |
| future_motion_roll_pitch: 0.0 |
| future_motion_base_lin_vel: 0.0 |
| future_motion_base_yaw_vel: 0.0 |
| future_motion_dof_pos: 0.0 |
| future_motion_local_ref_key_body_pos: 0.0 |
| next_step_ref_motion: 0.0 |
| add_noise_currculum: false |
| noise_initial_value: 0.05 |
| noise_value_max: 1.0 |
| noise_value_min: 1.0e-05 |
| soft_dof_pos_curriculum_degree: 1.0e-05 |
| soft_dof_pos_curriculum_level_down_threshold: 40 |
| soft_dof_pos_curriculum_level_up_threshold: 42 |
| obs_dims: |
| - base_lin_vel: 3 |
| - base_ang_vel: 3 |
| - dof_pos: ${robot.dof_obs_size} |
| - dof_vel: ${robot.dof_obs_size} |
| - actions: ${robot.dof_obs_size} |
| - local_key_body_pos: ${eval:'3 * ${robot.num_key_bodies}'} |
| - local_key_body_rot: ${eval:'6 * ${robot.num_key_bodies}'} |
| - anchor_ref_pos: 3 |
| - anchor_ref_rot: 6 |
| - dr_base_com: 3 |
| - dr_base_mass: 1 |
| - dr_kp: ${robot.dof_obs_size} |
| - dr_kd: ${robot.dof_obs_size} |
| - dr_friction: 1 |
| - dr_ctrl_delay: 1 |
| - contact_mask: 2 |
| - root_height: 1 |
| - roll_pitch: 2 |
| - future_motion_root_height: 1 |
| - future_motion_roll_pitch: 2 |
| - future_motion_base_lin_vel: 3 |
| - future_motion_base_yaw_vel: 1 |
| - future_motion_dof_pos: ${robot.dof_obs_size} |
| - future_motion_local_ref_key_body_pos: ${eval:'3 * ${robot.num_key_bodies}'} |
| - next_step_ref_motion: ${eval:'1 + 2 + 3 + 1 + ${robot.dof_obs_size} + (3 * ${robot.num_key_bodies})'} |
| post_compute_config: {} |
| motion_len: -1 |
| device: cuda:0 |
| max_iterations: 50000 |
|
|
