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