added missing models

bundles/centauro/d2026_01_19_h14_m54_s32-CentauroCloopPartialNoYawUbPercep_FakePosTrackEnvPhaseControl/ibrido_run__2026_01_19_14_51_36_ID/training_cfg_centauro_no_yaw_ub_cloop_perception.sh

@@ -0,0 +1,86 @@
+#!/bin/bash
+export EVAL=0
+export DET_EVAL=1
+export EVAL_ON_CPU=1
+export OVERRIDE_ENV=0
+export OVERRIDE_AGENT_REFS=1
+# export MPATH="/root/training_data/d2025_12_15_h18_m06_s38-CentauroCloopPartialNoYawUbPercep_FakePosTrackEnvPhaseControl"
+# export MNAME="d2025_12_15_h18_m06_s38-CentauroCloopPartialNoYawUbPercep_FakePosTrackEnvPhaseControl_model"
+
+# export MPATH="/root/training_data/d2026_01_05_h14_m07_s30-CentauroCloopPartialNoYawUbPercep_FakePosTrackEnvPhaseControl_compressed"
+# export MNAME="d2026_01_05_h14_m07_s30-CentauroCloopPartialNoYawUbPercep_FakePosTrackEnvPhaseControl_model"
+
+# export MPATH="/root/training_data/d2026_01_06_h16_m03_s03-CentauroCloopPartialNoYawUbPercep_FakePosTrackEnvPhaseControl_compressed"
+# export MNAME="d2026_01_06_h16_m03_s03-CentauroCloopPartialNoYawUbPercep_FakePosTrackEnvPhaseControl_model"
+
+export MPATH="/root/training_data/d2026_01_07_h18_m43_s19-CentauroCloopPartialNoYawUbPercep_FakePosTrackEnvPhaseControl_compressed"
+export MNAME="d2026_01_07_h18_m43_s19-CentauroCloopPartialNoYawUbPercep_FakePosTrackEnvPhaseControl_model"
+
+export WANDB_KEY="25f235316292344cea6dfa68e7c95409b3374d03"
+export SHM_NS="centauro_big_wheels_no_yaw_ub" # shared mem namespace used for all shared data on CPU 
+export N_ENVS=800 # number of env to run in parallel
+export RNAME="CentauroCloopPartialNoYawUbPercep" # a descriptive base name for this run
+export SEED=897 # random n generator seed to be used for this run
+export REMOTE_STEPPING=1
+export COMPRESSION_RATIO=0.6
+export ACTOR_LWIDTH=128
+export ACTOR_DEPTH=3
+export CRITIC_LWIDTH=256
+export CRITIC_DEPTH=4
+export OBS_NORM=1
+export OBS_RESCALING=0
+export CRITIC_ACTION_RESCALE=1
+export WEIGHT_NORM=1
+export LAYER_NORM=0
+export BATCH_NORM=0
+export IS_CLOSED_LOOP=1
+export DEBUG=1
+export RMDEBUG=1
+export DUMP_ENV_CHECKPOINTS=1
+export DEMO_STOP_THRESH=10.0
+export TOT_STEPS=30000000
+export USE_RND=0
+export DEMO_ENVS_PERC=0.0
+export EXPL_ENVS_PERC=0.0
+export ACTION_REPEAT=3
+export USE_SAC=1
+export USE_DUMMY=0
+export DISCOUNT_FACTOR=0.99
+export USE_PERIOD_RESETS=0
+export COMMENT='centauro big wheels (fixed ankle yaw) with upper body CLOOP, 16392 bsize, UTD 4, forward offset to heighmap, new true dir error matching paper, NO entropy annhealing, 8-15cm steps, 25 steps, 0.4/1.5 m width, flight control (apex 0.35, end[+] 0.2, length (min 8), NO landing control), no yaw rate randomization, CoT 0.3 scale 0.3 offset, 1.0 forwrad tracking, 0.2 yaw rate directional' # any training comment
+export URDF_PATH="${HOME}/ibrido_ws/src/iit-centauro-ros-pkg/centauro_urdf/urdf/centauro.urdf.xacro" # name of the description package for the robot
+export SRDF_PATH="${HOME}/ibrido_ws/src/iit-centauro-ros-pkg/centauro_srdf/srdf/centauro.srdf.xacro" # base path where the description package for the robot are located
+export JNT_IMP_CF_PATH="${HOME}/ibrido_ws/src/CentauroHybridMPC/centaurohybridmpc/config/jnt_imp_config_no_yaw_open.yaml" # path to yaml file for jnt imp configuration
+if (( $IS_CLOSED_LOOP )); then
+  export JNT_IMP_CF_PATH="${HOME}/ibrido_ws/src/CentauroHybridMPC/centaurohybridmpc/config/jnt_imp_config_no_yaw.yaml"
+fi
+
+export CLUSTER_CL_FNAME="centaurohybridmpc.controllers.horizon_based.centauro_rhc_cluster_client" # base path where the description package for the robot are located
+export CLUSTER_DT=0.05
+export N_NODES=20
+export CLUSTER_DB=1
+export PHYSICS_DT=0.0005
+export USE_GPU_SIM=1
+# export CODEGEN_OVERRIDE_BDIR="none"
+export CODEGEN_OVERRIDE_BDIR="${HOME}/aux_data/CentauroRHCLusterClient_${SHM_NS}/CodeGen/${SHM_NS}Rhc"
+export TRAIN_ENV_FNAME="fake_pos_track_env_phase_control"
+export TRAIN_ENV_CNAME="FakePosTrackEnvPhaseControl"
+export PUB_HEIGHTMAP=1
+export BAG_SDT=90.0
+export BRIDGE_DT=0.1
+export DUMP_DT=30.0
+export ENV_IDX_BAG=79
+export ENV_IDX_BAG_DEMO=-1
+export ENV_IDX_BAG_EXPL=-1
+export SRDF_PATH_ROSBAG="${HOME}/aux_data/CentauroRHClusterClient_${SHM_NS}/$SHM_NS.srdf" # base path where the description package for the robot are located
+export CUSTOM_ARGS_NAMES="rendering_dt use_random_pertub use_jnt_v_feedback step_height control_wheels fixed_flights adaptive_is \
+lin_a_feedback closed_partial fix_yaw use_flat_ground estimate_v_root self_collide add_upper_body \
+ground_type enable_height_sensor height_sensor_pixels height_sensor_resolution enable_height_vis height_sensor_forward_offset height_sensor_lateral_offset"
+export CUSTOM_ARGS_DTYPE="float bool bool float bool bool bool bool bool bool bool bool bool bool str bool int float bool float float "
+export CUSTOM_ARGS_VALS="0.05 false false 0.1 true true true false true true false false false true stepup_prim true 10 0.16 false 0.2 0.0"
+# export CUSTOM_ARGS_NAMES+=" contact_prims"
+# export CUSTOM_ARGS_DTYPE+=" strlist"
+# export CUSTOM_ARGS_VALS+=" wheel_1,wheel_2,wheel_3,wheel_4"
+export SET_ULIM=1
+export ULIM_N=28672 # maximum number of open file descriptors for each process (shared memory)
+export TIMEOUT_MS=120000 # timeout after which each script autokills ([ms])

bundles/centauro/d2026_02_21_h14_m01_s10-CentauroCloopPartialUbNoWheels_FakePosTrackingEnv/ibrido_run__2026_02_21_13_59_20_ID/training_cfg_centauro_ub_cloop.sh

@@ -0,0 +1,87 @@
+#!/bin/bash
+export EVAL=0
+export DET_EVAL=1
+export EVAL_ON_CPU=1
+export OVERRIDE_ENV=1
+export OVERRIDE_AGENT_REFS=1
+export MPATH="/root/training_data/"
+export MNAME=""
+
+export WANDB_KEY="25f235316292344cea6dfa68e7c95409b3374d03"
+export SHM_NS="centauro_big_wheels_ub" # shared mem namespace used for all shared data on CPU 
+export N_ENVS=800 # number of env to run in parallel
+export RNAME="CentauroCloopPartialUbNoWheels" # a descriptive base name for this run
+export SEED=383 # random n generator seed to be used for this run
+export REMOTE_STEPPING=1
+export COMPRESSION_RATIO=0.6
+export ACTOR_LWIDTH=128
+export ACTOR_DEPTH=3
+export CRITIC_LWIDTH=256
+export CRITIC_DEPTH=4
+export OBS_NORM=1
+export OBS_RESCALING=0
+export CRITIC_ACTION_RESCALE=1
+export WEIGHT_NORM=1
+export LAYER_NORM=0
+export BATCH_NORM=0
+export IS_CLOSED_LOOP=1
+export DEBUG=1
+export RMDEBUG=1
+export DUMP_ENV_CHECKPOINTS=1
+export DEMO_STOP_THRESH=10.0
+export TOT_STEPS=30000000
+export USE_RND=0
+export DEMO_ENVS_PERC=0.0
+export EXPL_ENVS_PERC=0.0
+export ACTION_REPEAT=3
+export USE_SAC=1
+export USE_DUMMY=0
+export DISCOUNT_FACTOR=0.98
+export USE_PERIOD_RESETS=0
+export COMMENT='centauro big wheels CLOSED, now using same jnt imp config as robot, action rep 3, gamma 0.98, UTD 4, no entropy annhealing, fake pos track (action rate, CoT, dir track, max_vref 1.0 m/s, max omega 0.4 rad/s,)' # any training comment
+export URDF_PATH="${HOME}/ibrido_ws/src/iit-centauro-ros-pkg/centauro_urdf/urdf/centauro.urdf.xacro" # name of the description package for the robot
+export SRDF_PATH="${HOME}/ibrido_ws/src/iit-centauro-ros-pkg/centauro_srdf/srdf/centauro.srdf.xacro" # base path where the description package for the robot are located
+export JNT_IMP_CF_PATH="${HOME}/ibrido_ws/src/CentauroHybridMPC/centaurohybridmpc/config/jnt_imp_config_open_with_ub.yaml" # path to yaml file for jnt imp configuration
+if (( $IS_CLOSED_LOOP )); then
+    export JNT_IMP_CF_PATH="${HOME}/ibrido_ws/src/CentauroHybridMPC/centaurohybridmpc/config/jnt_imp_config_with_ub.yaml"
+fi
+
+export CLUSTER_CL_FNAME="centaurohybridmpc.controllers.horizon_based.centauro_rhc_cluster_client" # base path where the description package for the robot are located
+export CLUSTER_DT=0.04
+export N_NODES=25
+export CLUSTER_DB=1
+export PHYSICS_DT=0.0005
+export USE_GPU_SIM=1
+# export CODEGEN_OVERRIDE_BDIR="none"
+export CODEGEN_OVERRIDE_BDIR="${HOME}/aux_data/CentauroRHCLusterClient_${SHM_NS}/CodeGen/${SHM_NS}Rhc"
+# export TRAIN_ENV_FNAME="twist_tracking_env"
+# export TRAIN_ENV_CNAME="TwistTrackingEnv"
+export TRAIN_ENV_FNAME="fake_pos_tracking_env"
+export TRAIN_ENV_CNAME="FakePosTrackingEnv"
+# export TRAIN_ENV_FNAME="fake_pos_track_env_phase_control"
+# export TRAIN_ENV_CNAME="FakePosTrackEnvPhaseControl"
+# export TRAIN_ENV_FNAME="fake_pos_track_env_phase_control_with_demo"
+# # export TRAIN_ENV_CNAME="FakePosTrackEnvPhaseControlWithDemo"
+# export TRAIN_ENV_FNAME="fake_pos_tracking_with_demo"
+# export TRAIN_ENV_CNAME="FakePosTrackingEnvWithDemo"
+# export TRAIN_ENV_FNAME="linvel_env_with_demo"
+# export TRAIN_ENV_CNAME="TwistTrackingEnvWithDemo"
+# export TRAIN_ENV_FNAME="flight_phase_control_env"
+# export TRAIN_ENV_CNAME="FlightPhaseControl"
+export PUB_HEIGHTMAP=0
+export BAG_SDT=90.0
+export BRIDGE_DT=0.1
+export DUMP_DT=50.0
+export ENV_IDX_BAG=5
+export ENV_IDX_BAG_DEMO=-1
+export ENV_IDX_BAG_EXPL=-1
+export SRDF_PATH_ROSBAG="${HOME}/aux_data/CentauroRHClusterClient_${SHM_NS}/$SHM_NS.srdf" # base path where the description package for the robot are located
+export CUSTOM_ARGS_NAMES="use_random_pertub use_jnt_v_feedback step_height rendering_dt control_wheels fixed_flights adaptive_is lin_a_feedback closed_partial estimate_v_root add_upper_body use_flat_ground ground_type dh_ground"
+export CUSTOM_ARGS_DTYPE="bool bool float float bool bool bool bool bool bool bool bool str float "
+export CUSTOM_ARGS_VALS="true false 0.1 0.1 false true true false true false true true random_patches 0.02"
+# export CUSTOM_ARGS_NAMES+=" contact_prims"
+# export CUSTOM_ARGS_DTYPE+=" strlist"
+# export CUSTOM_ARGS_VALS+=" wheel_1,wheel_2,wheel_3,wheel_4"
+export SET_ULIM=1 
+export ULIM_N=28672 # maximum number of open file descriptors for each process (shared memory)
+export TIMEOUT_MS=120000 # timeout after which each script autokills ([ms])

bundles/centauro/d2026_03_07_h19_m22_s30-CentauroCloopPartialNoYawUb_FakePosTrackingEnv/ibrido_run__2026_03_07_19_20_05_ID/training_cfg_centauro_no_yaw_ub_cloop.sh

@@ -0,0 +1,85 @@
+#!/bin/bash
+export EVAL=0
+export DET_EVAL=1
+export EVAL_ON_CPU=1
+export OVERRIDE_ENV=1
+export OVERRIDE_AGENT_REFS=1
+export MPATH="/root/training_data/"
+export MNAME=""
+
+export WANDB_KEY="25f235316292344cea6dfa68e7c95409b3374d03"
+export SHM_NS="centauro_big_wheels_no_yaw_ub" # shared mem namespace used for all shared data on CPU 
+export N_ENVS=800 # number of env to run in parallel
+export RNAME="CentauroCloopPartialNoYawUb" # a descriptive base name for this run
+export SEED=98 # random n generator seed to be used for this run
+export REMOTE_STEPPING=1
+export COMPRESSION_RATIO=0.6
+export ACTOR_LWIDTH=128
+export ACTOR_DEPTH=3
+export CRITIC_LWIDTH=256
+export CRITIC_DEPTH=4
+export OBS_NORM=1
+export OBS_RESCALING=0
+export CRITIC_ACTION_RESCALE=1
+export WEIGHT_NORM=1
+export LAYER_NORM=0
+export BATCH_NORM=0
+export IS_CLOSED_LOOP=1
+export DEBUG=1
+export RMDEBUG=1
+export DUMP_ENV_CHECKPOINTS=1
+export DEMO_STOP_THRESH=10.0
+export TOT_STEPS=20000000
+export USE_RND=0
+export DEMO_ENVS_PERC=0.0
+export EXPL_ENVS_PERC=0.0
+export ACTION_REPEAT=3
+export USE_SAC=1
+export USE_DUMMY=0
+export DISCOUNT_FACTOR=0.99
+export USE_PERIOD_RESETS=0
+export COMMENT='centauro big wheels (fixed ankle yaw) with upper body CLOOP, a bit of pushes' # any training comment
+export URDF_PATH="${HOME}/ibrido_ws/src/iit-centauro-ros-pkg/centauro_urdf/urdf/centauro.urdf.xacro" # name of the description package for the robot
+export SRDF_PATH="${HOME}/ibrido_ws/src/iit-centauro-ros-pkg/centauro_srdf/srdf/centauro.srdf.xacro" # base path where the description package for the robot are located
+export JNT_IMP_CF_PATH="${HOME}/ibrido_ws/src/CentauroHybridMPC/centaurohybridmpc/config/jnt_imp_config_no_yaw_ub_open.yaml" # path to yaml file for jnt imp configuration
+if (( $IS_CLOSED_LOOP )); then
+  export JNT_IMP_CF_PATH="${HOME}/ibrido_ws/src/CentauroHybridMPC/centaurohybridmpc/config/jnt_imp_config_no_yaw_ub.yaml"
+fi
+
+export CLUSTER_CL_FNAME="centaurohybridmpc.controllers.horizon_based.centauro_rhc_cluster_client" # base path where the description package for the robot are located
+export CLUSTER_DT=0.04
+export N_NODES=25
+export CLUSTER_DB=1
+export PHYSICS_DT=0.0005
+export USE_GPU_SIM=1
+# export CODEGEN_OVERRIDE_BDIR="none"
+export CODEGEN_OVERRIDE_BDIR="${HOME}/aux_data/CentauroRHCLusterClient_${SHM_NS}/CodeGen/${SHM_NS}Rhc"
+# export TRAIN_ENV_FNAME="twist_tracking_env"
+# export TRAIN_ENV_CNAME="TwistTrackingEnv"
+export TRAIN_ENV_FNAME="fake_pos_tracking_env"
+export TRAIN_ENV_CNAME="FakePosTrackingEnv"
+# export TRAIN_ENV_FNAME="fake_pos_track_env_phase_control"
+# export TRAIN_ENV_CNAME="FakePosTrackEnvPhaseControl"
+# export TRAIN_ENV_FNAME="fake_pos_track_env_phase_control_with_demo"
+# export TRAIN_ENV_CNAME="FakePosTrackEnvPhaseControlWithDemo"
+# export TRAIN_ENV_FNAME="fake_pos_tracking_with_demo"
+# export TRAIN_ENV_CNAME="FakePosTrackingEnvWithDemo"
+# export TRAIN_ENV_FNAME="linvel_env_with_demo"
+# export TRAIN_ENV_CNAME="TwistTrackingEnvWithDemo"
+export PUB_HEIGHTMAP=0
+export BAG_SDT=90.0
+export BRIDGE_DT=0.1
+export DUMP_DT=50.0
+export ENV_IDX_BAG=4
+export ENV_IDX_BAG_DEMO=-1
+export ENV_IDX_BAG_EXPL=-1
+export SRDF_PATH_ROSBAG="${HOME}/aux_data/CentauroRHClusterClient_${SHM_NS}/$SHM_NS.srdf" # base path where the description package for the robot are located
+export CUSTOM_ARGS_NAMES="use_random_pertub use_jnt_v_feedback step_height control_wheels fixed_flights adaptive_is lin_a_feedback closed_partial fix_yaw use_flat_ground estimate_v_root self_collide add_upper_body"
+export CUSTOM_ARGS_DTYPE="bool bool float bool bool bool bool bool bool bool bool bool bool "
+export CUSTOM_ARGS_VALS="true false 0.1 true true true false true true true false false true"
+# export CUSTOM_ARGS_NAMES+=" contact_prims"
+# export CUSTOM_ARGS_DTYPE+=" strlist"
+# export CUSTOM_ARGS_VALS+=" wheel_1,wheel_2,wheel_3,wheel_4"
+export SET_ULIM=1 
+export ULIM_N=131072  # maximum number of open file descriptors for each process (shared memory)
+export TIMEOUT_MS=120000 # timeout after which each script autokills ([ms])