upload v2.0.0 motion tracking model
Browse files
HoloMotion_motion_tracking_model_v2.0.0/config.yaml
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
algo:
|
| 2 |
+
config:
|
| 3 |
+
num_steps_per_env: 32
|
| 4 |
+
robot:
|
| 5 |
+
humanoid_type: unitree/G1/29dof
|
| 6 |
+
dof_obs_size: 29
|
| 7 |
+
actions_dim: 29
|
| 8 |
+
num_bodies: 30
|
| 9 |
+
num_extend_bodies: 0
|
| 10 |
+
undesired_contacts_regrex: ^(?!left_ankle_roll_link$)(?!right_ankle_roll_link$)(?!left_wrist_yaw_link$)(?!right_wrist_yaw_link$).+$
|
| 11 |
+
torso_name: torso_link
|
| 12 |
+
anchor_body: torso_link
|
| 13 |
+
key_bodies:
|
| 14 |
+
- pelvis
|
| 15 |
+
- left_hip_roll_link
|
| 16 |
+
- left_knee_link
|
| 17 |
+
- left_ankle_pitch_link
|
| 18 |
+
- right_hip_roll_link
|
| 19 |
+
- right_knee_link
|
| 20 |
+
- right_ankle_pitch_link
|
| 21 |
+
- torso_link
|
| 22 |
+
- left_shoulder_roll_link
|
| 23 |
+
- left_elbow_link
|
| 24 |
+
- left_wrist_yaw_link
|
| 25 |
+
- right_shoulder_roll_link
|
| 26 |
+
- right_elbow_link
|
| 27 |
+
- right_wrist_yaw_link
|
| 28 |
+
key_dofs:
|
| 29 |
+
- left_knee_joint
|
| 30 |
+
- right_knee_joint
|
| 31 |
+
- left_elbow_joint
|
| 32 |
+
- right_elbow_joint
|
| 33 |
+
dof_names:
|
| 34 |
+
- left_hip_pitch_joint
|
| 35 |
+
- left_hip_roll_joint
|
| 36 |
+
- left_hip_yaw_joint
|
| 37 |
+
- left_knee_joint
|
| 38 |
+
- left_ankle_pitch_joint
|
| 39 |
+
- left_ankle_roll_joint
|
| 40 |
+
- right_hip_pitch_joint
|
| 41 |
+
- right_hip_roll_joint
|
| 42 |
+
- right_hip_yaw_joint
|
| 43 |
+
- right_knee_joint
|
| 44 |
+
- right_ankle_pitch_joint
|
| 45 |
+
- right_ankle_roll_joint
|
| 46 |
+
- waist_yaw_joint
|
| 47 |
+
- waist_roll_joint
|
| 48 |
+
- waist_pitch_joint
|
| 49 |
+
- left_shoulder_pitch_joint
|
| 50 |
+
- left_shoulder_roll_joint
|
| 51 |
+
- left_shoulder_yaw_joint
|
| 52 |
+
- left_elbow_joint
|
| 53 |
+
- left_wrist_roll_joint
|
| 54 |
+
- left_wrist_pitch_joint
|
| 55 |
+
- left_wrist_yaw_joint
|
| 56 |
+
- right_shoulder_pitch_joint
|
| 57 |
+
- right_shoulder_roll_joint
|
| 58 |
+
- right_shoulder_yaw_joint
|
| 59 |
+
- right_elbow_joint
|
| 60 |
+
- right_wrist_roll_joint
|
| 61 |
+
- right_wrist_pitch_joint
|
| 62 |
+
- right_wrist_yaw_joint
|
| 63 |
+
arm_dof_names:
|
| 64 |
+
- left_shoulder_pitch_joint
|
| 65 |
+
- left_shoulder_roll_joint
|
| 66 |
+
- left_shoulder_yaw_joint
|
| 67 |
+
- left_elbow_joint
|
| 68 |
+
- left_wrist_roll_joint
|
| 69 |
+
- left_wrist_pitch_joint
|
| 70 |
+
- left_wrist_yaw_joint
|
| 71 |
+
- right_shoulder_pitch_joint
|
| 72 |
+
- right_shoulder_roll_joint
|
| 73 |
+
- right_shoulder_yaw_joint
|
| 74 |
+
- right_elbow_joint
|
| 75 |
+
- right_wrist_roll_joint
|
| 76 |
+
- right_wrist_pitch_joint
|
| 77 |
+
- right_wrist_yaw_joint
|
| 78 |
+
waist_dof_names:
|
| 79 |
+
- waist_yaw_joint
|
| 80 |
+
- waist_roll_joint
|
| 81 |
+
- waist_pitch_joint
|
| 82 |
+
leg_dof_names:
|
| 83 |
+
- left_hip_pitch_joint
|
| 84 |
+
- left_hip_roll_joint
|
| 85 |
+
- left_hip_yaw_joint
|
| 86 |
+
- left_knee_joint
|
| 87 |
+
- left_ankle_pitch_joint
|
| 88 |
+
- left_ankle_roll_joint
|
| 89 |
+
- right_hip_pitch_joint
|
| 90 |
+
- right_hip_roll_joint
|
| 91 |
+
- right_hip_yaw_joint
|
| 92 |
+
- right_knee_joint
|
| 93 |
+
- right_ankle_pitch_joint
|
| 94 |
+
- right_ankle_roll_joint
|
| 95 |
+
left_arm_dof_names:
|
| 96 |
+
- left_shoulder_pitch_joint
|
| 97 |
+
- left_shoulder_roll_joint
|
| 98 |
+
- left_shoulder_yaw_joint
|
| 99 |
+
- left_elbow_joint
|
| 100 |
+
- left_wrist_roll_joint
|
| 101 |
+
- left_wrist_pitch_joint
|
| 102 |
+
- left_wrist_yaw_joint
|
| 103 |
+
right_arm_dof_names:
|
| 104 |
+
- right_shoulder_pitch_joint
|
| 105 |
+
- right_shoulder_roll_joint
|
| 106 |
+
- right_shoulder_yaw_joint
|
| 107 |
+
- right_elbow_joint
|
| 108 |
+
- right_wrist_roll_joint
|
| 109 |
+
- right_wrist_pitch_joint
|
| 110 |
+
- right_wrist_yaw_joint
|
| 111 |
+
left_leg_dof_names:
|
| 112 |
+
- left_hip_pitch_joint
|
| 113 |
+
- left_hip_roll_joint
|
| 114 |
+
- left_hip_yaw_joint
|
| 115 |
+
- left_knee_joint
|
| 116 |
+
- left_ankle_pitch_joint
|
| 117 |
+
- left_ankle_roll_joint
|
| 118 |
+
right_leg_dof_names:
|
| 119 |
+
- right_hip_pitch_joint
|
| 120 |
+
- right_hip_roll_joint
|
| 121 |
+
- right_hip_yaw_joint
|
| 122 |
+
- right_knee_joint
|
| 123 |
+
- right_ankle_pitch_joint
|
| 124 |
+
- right_ankle_roll_joint
|
| 125 |
+
upper_body_dof_names:
|
| 126 |
+
- left_shoulder_pitch_joint
|
| 127 |
+
- left_shoulder_roll_joint
|
| 128 |
+
- left_shoulder_yaw_joint
|
| 129 |
+
- left_elbow_joint
|
| 130 |
+
- left_wrist_roll_joint
|
| 131 |
+
- left_wrist_pitch_joint
|
| 132 |
+
- left_wrist_yaw_joint
|
| 133 |
+
- right_shoulder_pitch_joint
|
| 134 |
+
- right_shoulder_roll_joint
|
| 135 |
+
- right_shoulder_yaw_joint
|
| 136 |
+
- right_elbow_joint
|
| 137 |
+
- right_wrist_roll_joint
|
| 138 |
+
- right_wrist_pitch_joint
|
| 139 |
+
- right_wrist_yaw_joint
|
| 140 |
+
lower_body_dof_names:
|
| 141 |
+
- left_hip_pitch_joint
|
| 142 |
+
- left_hip_roll_joint
|
| 143 |
+
- left_hip_yaw_joint
|
| 144 |
+
- left_knee_joint
|
| 145 |
+
- left_ankle_pitch_joint
|
| 146 |
+
- left_ankle_roll_joint
|
| 147 |
+
- right_hip_pitch_joint
|
| 148 |
+
- right_hip_roll_joint
|
| 149 |
+
- right_hip_yaw_joint
|
| 150 |
+
- right_knee_joint
|
| 151 |
+
- right_ankle_pitch_joint
|
| 152 |
+
- right_ankle_roll_joint
|
| 153 |
+
- waist_yaw_joint
|
| 154 |
+
- waist_roll_joint
|
| 155 |
+
- waist_pitch_joint
|
| 156 |
+
arm_body_names:
|
| 157 |
+
- left_shoulder_pitch_link
|
| 158 |
+
- left_shoulder_roll_link
|
| 159 |
+
- left_shoulder_yaw_link
|
| 160 |
+
- left_elbow_link
|
| 161 |
+
- left_wrist_roll_link
|
| 162 |
+
- left_wrist_pitch_link
|
| 163 |
+
- left_wrist_yaw_link
|
| 164 |
+
- right_shoulder_pitch_link
|
| 165 |
+
- right_shoulder_roll_link
|
| 166 |
+
- right_shoulder_yaw_link
|
| 167 |
+
- right_elbow_link
|
| 168 |
+
- right_wrist_roll_link
|
| 169 |
+
- right_wrist_pitch_link
|
| 170 |
+
- right_wrist_yaw_link
|
| 171 |
+
head_hand_bodies:
|
| 172 |
+
- torso_link
|
| 173 |
+
- left_wrist_yaw_link
|
| 174 |
+
- right_wrist_yaw_link
|
| 175 |
+
torso_body_names:
|
| 176 |
+
- waist_yaw_link
|
| 177 |
+
- waist_roll_link
|
| 178 |
+
- torso_link
|
| 179 |
+
leg_body_names:
|
| 180 |
+
- left_hip_pitch_link
|
| 181 |
+
- left_hip_roll_link
|
| 182 |
+
- left_hip_yaw_link
|
| 183 |
+
- left_knee_link
|
| 184 |
+
- left_ankle_pitch_link
|
| 185 |
+
- left_ankle_roll_link
|
| 186 |
+
- right_hip_pitch_link
|
| 187 |
+
- right_hip_roll_link
|
| 188 |
+
- right_hip_yaw_link
|
| 189 |
+
- right_knee_link
|
| 190 |
+
- right_ankle_pitch_link
|
| 191 |
+
- right_ankle_roll_link
|
| 192 |
+
left_arm_body_names:
|
| 193 |
+
- left_shoulder_pitch_link
|
| 194 |
+
- left_shoulder_roll_link
|
| 195 |
+
- left_shoulder_yaw_link
|
| 196 |
+
- left_elbow_link
|
| 197 |
+
- left_wrist_roll_link
|
| 198 |
+
- left_wrist_pitch_link
|
| 199 |
+
- left_wrist_yaw_link
|
| 200 |
+
right_arm_body_names:
|
| 201 |
+
- right_shoulder_pitch_link
|
| 202 |
+
- right_shoulder_roll_link
|
| 203 |
+
- right_shoulder_yaw_link
|
| 204 |
+
- right_elbow_link
|
| 205 |
+
- right_wrist_roll_link
|
| 206 |
+
- right_wrist_pitch_link
|
| 207 |
+
- right_wrist_yaw_link
|
| 208 |
+
left_leg_body_names:
|
| 209 |
+
- left_hip_pitch_link
|
| 210 |
+
- left_hip_roll_link
|
| 211 |
+
- left_hip_yaw_link
|
| 212 |
+
- left_knee_link
|
| 213 |
+
- left_ankle_pitch_link
|
| 214 |
+
- left_ankle_roll_link
|
| 215 |
+
right_leg_body_names:
|
| 216 |
+
- right_hip_pitch_link
|
| 217 |
+
- right_hip_roll_link
|
| 218 |
+
- right_hip_yaw_link
|
| 219 |
+
- right_knee_link
|
| 220 |
+
- right_ankle_pitch_link
|
| 221 |
+
- right_ankle_roll_link
|
| 222 |
+
body_names:
|
| 223 |
+
- pelvis
|
| 224 |
+
- left_hip_pitch_link
|
| 225 |
+
- left_hip_roll_link
|
| 226 |
+
- left_hip_yaw_link
|
| 227 |
+
- left_knee_link
|
| 228 |
+
- left_ankle_pitch_link
|
| 229 |
+
- left_ankle_roll_link
|
| 230 |
+
- right_hip_pitch_link
|
| 231 |
+
- right_hip_roll_link
|
| 232 |
+
- right_hip_yaw_link
|
| 233 |
+
- right_knee_link
|
| 234 |
+
- right_ankle_pitch_link
|
| 235 |
+
- right_ankle_roll_link
|
| 236 |
+
- waist_yaw_link
|
| 237 |
+
- waist_roll_link
|
| 238 |
+
- torso_link
|
| 239 |
+
- left_shoulder_pitch_link
|
| 240 |
+
- left_shoulder_roll_link
|
| 241 |
+
- left_shoulder_yaw_link
|
| 242 |
+
- left_elbow_link
|
| 243 |
+
- left_wrist_roll_link
|
| 244 |
+
- left_wrist_pitch_link
|
| 245 |
+
- left_wrist_yaw_link
|
| 246 |
+
- right_shoulder_pitch_link
|
| 247 |
+
- right_shoulder_roll_link
|
| 248 |
+
- right_shoulder_yaw_link
|
| 249 |
+
- right_elbow_link
|
| 250 |
+
- right_wrist_roll_link
|
| 251 |
+
- right_wrist_pitch_link
|
| 252 |
+
- right_wrist_yaw_link
|
| 253 |
+
init_state:
|
| 254 |
+
pos:
|
| 255 |
+
- 0.0
|
| 256 |
+
- 0.0
|
| 257 |
+
- 0.8
|
| 258 |
+
rot:
|
| 259 |
+
- 0.0
|
| 260 |
+
- 0.929
|
| 261 |
+
- 0.341
|
| 262 |
+
- 0.298
|
| 263 |
+
lin_vel:
|
| 264 |
+
- 0.0
|
| 265 |
+
- 0.0
|
| 266 |
+
- 0.0
|
| 267 |
+
ang_vel:
|
| 268 |
+
- 0.0
|
| 269 |
+
- 0.0
|
| 270 |
+
- 0.0
|
| 271 |
+
default_joint_angles:
|
| 272 |
+
left_hip_pitch_joint: -0.312
|
| 273 |
+
left_hip_roll_joint: 0.0
|
| 274 |
+
left_hip_yaw_joint: 0.0
|
| 275 |
+
left_knee_joint: 0.669
|
| 276 |
+
left_ankle_pitch_joint: -0.363
|
| 277 |
+
left_ankle_roll_joint: 0.0
|
| 278 |
+
right_hip_pitch_joint: -0.312
|
| 279 |
+
right_hip_roll_joint: 0.0
|
| 280 |
+
right_hip_yaw_joint: 0.0
|
| 281 |
+
right_knee_joint: 0.669
|
| 282 |
+
right_ankle_pitch_joint: -0.363
|
| 283 |
+
right_ankle_roll_joint: 0.0
|
| 284 |
+
waist_yaw_joint: 0.0
|
| 285 |
+
waist_roll_joint: 0.0
|
| 286 |
+
waist_pitch_joint: 0.1
|
| 287 |
+
left_shoulder_pitch_joint: 0.2
|
| 288 |
+
left_shoulder_roll_joint: 0.2
|
| 289 |
+
left_shoulder_yaw_joint: 0.0
|
| 290 |
+
left_elbow_joint: 0.6
|
| 291 |
+
left_wrist_roll_joint: 0.0
|
| 292 |
+
left_wrist_pitch_joint: 0.0
|
| 293 |
+
left_wrist_yaw_joint: 0.0
|
| 294 |
+
right_shoulder_pitch_joint: 0.2
|
| 295 |
+
right_shoulder_roll_joint: -0.2
|
| 296 |
+
right_shoulder_yaw_joint: 0.0
|
| 297 |
+
right_elbow_joint: 0.6
|
| 298 |
+
right_wrist_roll_joint: 0.0
|
| 299 |
+
right_wrist_pitch_joint: 0.0
|
| 300 |
+
right_wrist_yaw_joint: 0.0
|
| 301 |
+
actuators:
|
| 302 |
+
actuator_type: unitree_erfi
|
| 303 |
+
all_joints:
|
| 304 |
+
joint_names_expr:
|
| 305 |
+
- .*_hip_yaw_joint
|
| 306 |
+
- .*_hip_roll_joint
|
| 307 |
+
- .*_hip_pitch_joint
|
| 308 |
+
- .*_knee_joint
|
| 309 |
+
- .*_ankle_pitch_joint
|
| 310 |
+
- .*_ankle_roll_joint
|
| 311 |
+
- waist_yaw_joint
|
| 312 |
+
- waist_roll_joint
|
| 313 |
+
- waist_pitch_joint
|
| 314 |
+
- .*_shoulder_pitch_joint
|
| 315 |
+
- .*_shoulder_roll_joint
|
| 316 |
+
- .*_shoulder_yaw_joint
|
| 317 |
+
- .*_elbow_joint
|
| 318 |
+
- .*_wrist_roll_joint
|
| 319 |
+
- .*_wrist_pitch_joint
|
| 320 |
+
- .*_wrist_yaw_joint
|
| 321 |
+
effort_limit_sim:
|
| 322 |
+
.*_hip_yaw_joint: 88.0
|
| 323 |
+
.*_hip_roll_joint: 139.0
|
| 324 |
+
.*_hip_pitch_joint: 88.0
|
| 325 |
+
.*_knee_joint: 139.0
|
| 326 |
+
.*_ankle_pitch_joint: 50.0
|
| 327 |
+
.*_ankle_roll_joint: 50.0
|
| 328 |
+
waist_yaw_joint: 88.0
|
| 329 |
+
waist_roll_joint: 50.0
|
| 330 |
+
waist_pitch_joint: 50.0
|
| 331 |
+
.*_shoulder_pitch_joint: 25.0
|
| 332 |
+
.*_shoulder_roll_joint: 25.0
|
| 333 |
+
.*_shoulder_yaw_joint: 25.0
|
| 334 |
+
.*_elbow_joint: 25.0
|
| 335 |
+
.*_wrist_roll_joint: 25.0
|
| 336 |
+
.*_wrist_pitch_joint: 5.0
|
| 337 |
+
.*_wrist_yaw_joint: 5.0
|
| 338 |
+
velocity_limit_sim:
|
| 339 |
+
.*_hip_yaw_joint: 32.0
|
| 340 |
+
.*_hip_roll_joint: 20.0
|
| 341 |
+
.*_hip_pitch_joint: 32.0
|
| 342 |
+
.*_knee_joint: 20.0
|
| 343 |
+
.*_ankle_pitch_joint: 37.0
|
| 344 |
+
.*_ankle_roll_joint: 37.0
|
| 345 |
+
waist_yaw_joint: 32.0
|
| 346 |
+
waist_roll_joint: 37.0
|
| 347 |
+
waist_pitch_joint: 37.0
|
| 348 |
+
.*_shoulder_pitch_joint: 37.0
|
| 349 |
+
.*_shoulder_roll_joint: 37.0
|
| 350 |
+
.*_shoulder_yaw_joint: 37.0
|
| 351 |
+
.*_elbow_joint: 37.0
|
| 352 |
+
.*_wrist_roll_joint: 37.0
|
| 353 |
+
.*_wrist_pitch_joint: 22.0
|
| 354 |
+
.*_wrist_yaw_joint: 22.0
|
| 355 |
+
stiffness:
|
| 356 |
+
.*_hip_pitch_joint: 40.17923847
|
| 357 |
+
.*_hip_roll_joint: 99.09842778
|
| 358 |
+
.*_hip_yaw_joint: 40.17923847
|
| 359 |
+
.*_knee_joint: 99.09842778
|
| 360 |
+
.*_ankle_pitch_joint: 28.5012462
|
| 361 |
+
.*_ankle_roll_joint: 28.5012462
|
| 362 |
+
waist_yaw_joint: 40.17923847
|
| 363 |
+
waist_roll_joint: 28.5012462
|
| 364 |
+
waist_pitch_joint: 28.5012462
|
| 365 |
+
.*_shoulder_pitch_joint: 14.2506231
|
| 366 |
+
.*_shoulder_roll_joint: 14.2506231
|
| 367 |
+
.*_shoulder_yaw_joint: 14.2506231
|
| 368 |
+
.*_elbow_joint: 14.2506231
|
| 369 |
+
.*_wrist_roll_joint: 14.25062309787429
|
| 370 |
+
.*_wrist_pitch_joint: 16.77832748089279
|
| 371 |
+
.*_wrist_yaw_joint: 16.77832748089279
|
| 372 |
+
damping:
|
| 373 |
+
.*_hip_pitch_joint: 2.55788977
|
| 374 |
+
.*_hip_roll_joint: 6.30880185
|
| 375 |
+
.*_hip_yaw_joint: 2.55788977
|
| 376 |
+
.*_knee_joint: 6.30880185
|
| 377 |
+
.*_ankle_pitch_joint: 1.81444569
|
| 378 |
+
.*_ankle_roll_joint: 1.81444569
|
| 379 |
+
waist_yaw_joint: 2.55788977
|
| 380 |
+
waist_roll_joint: 1.81444569
|
| 381 |
+
waist_pitch_joint: 1.81444569
|
| 382 |
+
.*_shoulder_pitch_joint: 0.90722284
|
| 383 |
+
.*_shoulder_roll_joint: 0.90722284
|
| 384 |
+
.*_shoulder_yaw_joint: 0.90722284
|
| 385 |
+
.*_elbow_joint: 0.90722284
|
| 386 |
+
.*_wrist_roll_joint: 0.907222843292423
|
| 387 |
+
.*_wrist_pitch_joint: 1.06814150219
|
| 388 |
+
.*_wrist_yaw_joint: 1.06814150219
|
| 389 |
+
armature:
|
| 390 |
+
.*_hip_pitch_joint: 0.01017752
|
| 391 |
+
.*_hip_roll_joint: 0.025101925
|
| 392 |
+
.*_hip_yaw_joint: 0.01017752
|
| 393 |
+
.*_knee_joint: 0.025101925
|
| 394 |
+
.*_ankle_pitch_joint: 0.00721945
|
| 395 |
+
.*_ankle_roll_joint: 0.00721945
|
| 396 |
+
waist_yaw_joint: 0.01017752
|
| 397 |
+
waist_roll_joint: 0.00721945
|
| 398 |
+
waist_pitch_joint: 0.00721945
|
| 399 |
+
.*_shoulder_pitch_joint: 0.003609725
|
| 400 |
+
.*_shoulder_roll_joint: 0.003609725
|
| 401 |
+
.*_shoulder_yaw_joint: 0.003609725
|
| 402 |
+
.*_elbow_joint: 0.003609725
|
| 403 |
+
.*_wrist_roll_joint: 0.003609725
|
| 404 |
+
.*_wrist_pitch_joint: 0.00425
|
| 405 |
+
.*_wrist_yaw_joint: 0.00425
|
| 406 |
+
action_scale:
|
| 407 |
+
.*_hip_pitch_joint: 0.548
|
| 408 |
+
.*_hip_roll_joint: 0.351
|
| 409 |
+
.*_hip_yaw_joint: 0.548
|
| 410 |
+
.*_knee_joint: 0.351
|
| 411 |
+
.*_ankle_pitch_joint: 0.439
|
| 412 |
+
.*_ankle_roll_joint: 0.439
|
| 413 |
+
waist_yaw_joint: 0.548
|
| 414 |
+
waist_roll_joint: 0.439
|
| 415 |
+
waist_pitch_joint: 0.439
|
| 416 |
+
.*_shoulder_pitch_joint: 0.439
|
| 417 |
+
.*_shoulder_roll_joint: 0.439
|
| 418 |
+
.*_shoulder_yaw_joint: 0.439
|
| 419 |
+
.*_elbow_joint: 0.439
|
| 420 |
+
.*_wrist_roll_joint: 0.439
|
| 421 |
+
.*_wrist_pitch_joint: 0.075
|
| 422 |
+
.*_wrist_yaw_joint: 0.075
|
| 423 |
+
dof_sign_by_name:
|
| 424 |
+
left_hip_pitch_joint: 1.0
|
| 425 |
+
left_hip_roll_joint: -1.0
|
| 426 |
+
left_hip_yaw_joint: -1.0
|
| 427 |
+
left_knee_joint: 1.0
|
| 428 |
+
left_ankle_pitch_joint: 1.0
|
| 429 |
+
left_ankle_roll_joint: -1.0
|
| 430 |
+
right_hip_pitch_joint: 1.0
|
| 431 |
+
right_hip_roll_joint: -1.0
|
| 432 |
+
right_hip_yaw_joint: -1.0
|
| 433 |
+
right_knee_joint: 1.0
|
| 434 |
+
right_ankle_pitch_joint: 1.0
|
| 435 |
+
right_ankle_roll_joint: -1.0
|
| 436 |
+
waist_yaw_joint: -1.0
|
| 437 |
+
waist_roll_joint: -1.0
|
| 438 |
+
waist_pitch_joint: 1.0
|
| 439 |
+
left_shoulder_pitch_joint: 1.0
|
| 440 |
+
left_shoulder_roll_joint: -1.0
|
| 441 |
+
left_shoulder_yaw_joint: -1.0
|
| 442 |
+
left_elbow_joint: 1.0
|
| 443 |
+
left_wrist_roll_joint: -1.0
|
| 444 |
+
left_wrist_pitch_joint: 1.0
|
| 445 |
+
left_wrist_yaw_joint: -1.0
|
| 446 |
+
right_shoulder_pitch_joint: 1.0
|
| 447 |
+
right_shoulder_roll_joint: -1.0
|
| 448 |
+
right_shoulder_yaw_joint: -1.0
|
| 449 |
+
right_elbow_joint: 1.0
|
| 450 |
+
right_wrist_roll_joint: -1.0
|
| 451 |
+
right_wrist_pitch_joint: 1.0
|
| 452 |
+
right_wrist_yaw_joint: -1.0
|
| 453 |
+
asset:
|
| 454 |
+
collapse_fixed_joints: true
|
| 455 |
+
replace_cylinder_with_capsule: true
|
| 456 |
+
flip_visual_attachments: false
|
| 457 |
+
max_angular_velocity: 1000.0
|
| 458 |
+
max_linear_velocity: 1000.0
|
| 459 |
+
density: 0.001
|
| 460 |
+
angular_damping: 0.0
|
| 461 |
+
linear_damping: 0.0
|
| 462 |
+
asset_root: ./
|
| 463 |
+
urdf_file: assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.urdf
|
| 464 |
+
assetFileName: assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.xml
|
| 465 |
+
fix_base_link: false
|
| 466 |
+
force_usd_conversion: true
|
| 467 |
+
extend_config: []
|
| 468 |
+
motion:
|
| 469 |
+
asset:
|
| 470 |
+
assetRoot: ./
|
| 471 |
+
assetFileName: assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.xml
|
| 472 |
+
dof_names:
|
| 473 |
+
- left_hip_pitch_joint
|
| 474 |
+
- left_hip_roll_joint
|
| 475 |
+
- left_hip_yaw_joint
|
| 476 |
+
- left_knee_joint
|
| 477 |
+
- left_ankle_pitch_joint
|
| 478 |
+
- left_ankle_roll_joint
|
| 479 |
+
- right_hip_pitch_joint
|
| 480 |
+
- right_hip_roll_joint
|
| 481 |
+
- right_hip_yaw_joint
|
| 482 |
+
- right_knee_joint
|
| 483 |
+
- right_ankle_pitch_joint
|
| 484 |
+
- right_ankle_roll_joint
|
| 485 |
+
- waist_yaw_joint
|
| 486 |
+
- waist_roll_joint
|
| 487 |
+
- waist_pitch_joint
|
| 488 |
+
- left_shoulder_pitch_joint
|
| 489 |
+
- left_shoulder_roll_joint
|
| 490 |
+
- left_shoulder_yaw_joint
|
| 491 |
+
- left_elbow_joint
|
| 492 |
+
- left_wrist_roll_joint
|
| 493 |
+
- left_wrist_pitch_joint
|
| 494 |
+
- left_wrist_yaw_joint
|
| 495 |
+
- right_shoulder_pitch_joint
|
| 496 |
+
- right_shoulder_roll_joint
|
| 497 |
+
- right_shoulder_yaw_joint
|
| 498 |
+
- right_elbow_joint
|
| 499 |
+
- right_wrist_roll_joint
|
| 500 |
+
- right_wrist_pitch_joint
|
| 501 |
+
- right_wrist_yaw_joint
|
| 502 |
+
body_names:
|
| 503 |
+
- pelvis
|
| 504 |
+
- left_hip_pitch_link
|
| 505 |
+
- left_hip_roll_link
|
| 506 |
+
- left_hip_yaw_link
|
| 507 |
+
- left_knee_link
|
| 508 |
+
- left_ankle_pitch_link
|
| 509 |
+
- left_ankle_roll_link
|
| 510 |
+
- right_hip_pitch_link
|
| 511 |
+
- right_hip_roll_link
|
| 512 |
+
- right_hip_yaw_link
|
| 513 |
+
- right_knee_link
|
| 514 |
+
- right_ankle_pitch_link
|
| 515 |
+
- right_ankle_roll_link
|
| 516 |
+
- waist_yaw_link
|
| 517 |
+
- waist_roll_link
|
| 518 |
+
- torso_link
|
| 519 |
+
- left_shoulder_pitch_link
|
| 520 |
+
- left_shoulder_roll_link
|
| 521 |
+
- left_shoulder_yaw_link
|
| 522 |
+
- left_elbow_link
|
| 523 |
+
- left_wrist_roll_link
|
| 524 |
+
- left_wrist_pitch_link
|
| 525 |
+
- left_wrist_yaw_link
|
| 526 |
+
- right_shoulder_pitch_link
|
| 527 |
+
- right_shoulder_roll_link
|
| 528 |
+
- right_shoulder_yaw_link
|
| 529 |
+
- right_elbow_link
|
| 530 |
+
- right_wrist_roll_link
|
| 531 |
+
- right_wrist_pitch_link
|
| 532 |
+
- right_wrist_yaw_link
|
| 533 |
+
key_bodies:
|
| 534 |
+
- pelvis
|
| 535 |
+
- left_hip_roll_link
|
| 536 |
+
- left_knee_link
|
| 537 |
+
- left_ankle_pitch_link
|
| 538 |
+
- right_hip_roll_link
|
| 539 |
+
- right_knee_link
|
| 540 |
+
- right_ankle_pitch_link
|
| 541 |
+
- torso_link
|
| 542 |
+
- left_shoulder_roll_link
|
| 543 |
+
- left_elbow_link
|
| 544 |
+
- left_wrist_yaw_link
|
| 545 |
+
- right_shoulder_roll_link
|
| 546 |
+
- right_elbow_link
|
| 547 |
+
- right_wrist_yaw_link
|
| 548 |
+
extend_config: []
|
| 549 |
+
fk_robot_file_path: assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.urdf
|
| 550 |
+
env:
|
| 551 |
+
config:
|
| 552 |
+
commands:
|
| 553 |
+
ref_motion:
|
| 554 |
+
params:
|
| 555 |
+
target_fps: 50
|
| 556 |
+
obs:
|
| 557 |
+
context_length: 1
|
| 558 |
+
n_fut_frames: 5
|
| 559 |
+
target_fps: 50
|
| 560 |
+
actor_obs_prefix: ref_
|
| 561 |
+
critic_obs_prefix: ref_
|
| 562 |
+
obs_groups:
|
| 563 |
+
unified:
|
| 564 |
+
atomic_obs_list:
|
| 565 |
+
- actor_projected_gravity:
|
| 566 |
+
func: link_feedback
|
| 567 |
+
params:
|
| 568 |
+
name: projected_gravity
|
| 569 |
+
actor: true
|
| 570 |
+
history_length: 1
|
| 571 |
+
flatten_history_dim: false
|
| 572 |
+
- actor_rel_robot_root_ang_vel:
|
| 573 |
+
func: link_feedback
|
| 574 |
+
params:
|
| 575 |
+
name: root_ang_vel
|
| 576 |
+
actor: true
|
| 577 |
+
history_length: 1
|
| 578 |
+
flatten_history_dim: false
|
| 579 |
+
- actor_dof_pos:
|
| 580 |
+
func: link_feedback
|
| 581 |
+
params:
|
| 582 |
+
name: dof_pos
|
| 583 |
+
actor: true
|
| 584 |
+
history_length: 1
|
| 585 |
+
flatten_history_dim: false
|
| 586 |
+
- actor_dof_vel:
|
| 587 |
+
func: link_feedback
|
| 588 |
+
params:
|
| 589 |
+
name: dof_vel
|
| 590 |
+
actor: true
|
| 591 |
+
history_length: 1
|
| 592 |
+
flatten_history_dim: false
|
| 593 |
+
- actor_last_action:
|
| 594 |
+
func: link_feedback
|
| 595 |
+
params:
|
| 596 |
+
name: last_action
|
| 597 |
+
actor: true
|
| 598 |
+
history_length: 1
|
| 599 |
+
flatten_history_dim: false
|
| 600 |
+
- actor_link_reference_height:
|
| 601 |
+
func: link_command_term
|
| 602 |
+
params:
|
| 603 |
+
name: reference_height
|
| 604 |
+
actor: true
|
| 605 |
+
history_length: 1
|
| 606 |
+
flatten_history_dim: false
|
| 607 |
+
- actor_link_link_mask:
|
| 608 |
+
func: link_command_term
|
| 609 |
+
params:
|
| 610 |
+
name: link_mask
|
| 611 |
+
actor: true
|
| 612 |
+
history_length: 1
|
| 613 |
+
flatten_history_dim: false
|
| 614 |
+
- actor_link_time_valid:
|
| 615 |
+
func: link_command_term
|
| 616 |
+
params:
|
| 617 |
+
name: time_valid
|
| 618 |
+
actor: true
|
| 619 |
+
history_length: 1
|
| 620 |
+
flatten_history_dim: false
|
| 621 |
+
- actor_link_target_pos:
|
| 622 |
+
func: link_command_term
|
| 623 |
+
params:
|
| 624 |
+
name: target_pos
|
| 625 |
+
actor: true
|
| 626 |
+
- actor_link_position_error:
|
| 627 |
+
func: link_command_term
|
| 628 |
+
params:
|
| 629 |
+
name: position_error
|
| 630 |
+
actor: true
|
| 631 |
+
- actor_link_target_rot6d:
|
| 632 |
+
func: link_command_term
|
| 633 |
+
params:
|
| 634 |
+
name: target_rot6d
|
| 635 |
+
actor: true
|
| 636 |
+
- actor_link_rotation_error6d:
|
| 637 |
+
func: link_command_term
|
| 638 |
+
params:
|
| 639 |
+
name: rotation_error6d
|
| 640 |
+
actor: true
|
| 641 |
+
- actor_link_time_offsets:
|
| 642 |
+
func: link_command_term
|
| 643 |
+
params:
|
| 644 |
+
name: time_offsets
|
| 645 |
+
actor: true
|
| 646 |
+
- critic_rel_robot_root_lin_vel:
|
| 647 |
+
func: rel_robot_root_lin_vel
|
| 648 |
+
- critic_rel_robot_root_ang_vel:
|
| 649 |
+
func: rel_robot_root_ang_vel
|
| 650 |
+
- critic_global_robot_bodylink_lin_vel_flat:
|
| 651 |
+
func: global_robot_bodylink_lin_vel_flat
|
| 652 |
+
- critic_global_robot_bodylink_ang_vel_flat:
|
| 653 |
+
func: global_robot_bodylink_ang_vel_flat
|
| 654 |
+
- critic_root_rel_robot_bodylink_pos_flat:
|
| 655 |
+
func: root_rel_robot_bodylink_pos_flat
|
| 656 |
+
- critic_root_rel_robot_bodylink_rot_mat_flat:
|
| 657 |
+
func: root_rel_robot_bodylink_rot_mat_flat
|
| 658 |
+
- critic_dof_pos:
|
| 659 |
+
func: link_feedback
|
| 660 |
+
params:
|
| 661 |
+
name: dof_pos
|
| 662 |
+
actor: false
|
| 663 |
+
- critic_dof_vel:
|
| 664 |
+
func: link_feedback
|
| 665 |
+
params:
|
| 666 |
+
name: dof_vel
|
| 667 |
+
actor: false
|
| 668 |
+
- critic_last_action:
|
| 669 |
+
func: link_feedback
|
| 670 |
+
params:
|
| 671 |
+
name: last_action
|
| 672 |
+
actor: false
|
| 673 |
+
- critic_global_anchor_diff:
|
| 674 |
+
func: global_anchor_diff
|
| 675 |
+
params:
|
| 676 |
+
ref_prefix: ref_
|
| 677 |
+
- critic_projected_gravity:
|
| 678 |
+
func: link_feedback
|
| 679 |
+
params:
|
| 680 |
+
name: projected_gravity
|
| 681 |
+
actor: false
|
| 682 |
+
- critic_root_height:
|
| 683 |
+
func: link_feedback
|
| 684 |
+
params:
|
| 685 |
+
name: root_height
|
| 686 |
+
actor: false
|
| 687 |
+
- critic_link_reference_height:
|
| 688 |
+
func: link_command_term
|
| 689 |
+
params:
|
| 690 |
+
name: reference_height
|
| 691 |
+
actor: false
|
| 692 |
+
- critic_link_link_mask:
|
| 693 |
+
func: link_command_term
|
| 694 |
+
params:
|
| 695 |
+
name: link_mask
|
| 696 |
+
actor: false
|
| 697 |
+
- critic_link_time_valid:
|
| 698 |
+
func: link_command_term
|
| 699 |
+
params:
|
| 700 |
+
name: time_valid
|
| 701 |
+
actor: false
|
| 702 |
+
- critic_link_target_pos:
|
| 703 |
+
func: link_command_term
|
| 704 |
+
params:
|
| 705 |
+
name: target_pos
|
| 706 |
+
actor: false
|
| 707 |
+
- critic_link_position_error:
|
| 708 |
+
func: link_command_term
|
| 709 |
+
params:
|
| 710 |
+
name: position_error
|
| 711 |
+
actor: false
|
| 712 |
+
- critic_link_target_rot6d:
|
| 713 |
+
func: link_command_term
|
| 714 |
+
params:
|
| 715 |
+
name: target_rot6d
|
| 716 |
+
actor: false
|
| 717 |
+
- critic_link_rotation_error6d:
|
| 718 |
+
func: link_command_term
|
| 719 |
+
params:
|
| 720 |
+
name: rotation_error6d
|
| 721 |
+
actor: false
|
| 722 |
+
- critic_link_time_offsets:
|
| 723 |
+
func: link_command_term
|
| 724 |
+
params:
|
| 725 |
+
name: time_offsets
|
| 726 |
+
actor: false
|
| 727 |
+
additional_atomic_obs_list: []
|
| 728 |
+
enable_corruption: true
|
| 729 |
+
concatenate_terms: false
|
| 730 |
+
modules:
|
| 731 |
+
actor:
|
| 732 |
+
type: ReferenceRoutedGroupedMoETransformerPolicy
|
| 733 |
+
use_checkpointing: false
|
| 734 |
+
num_fine_experts: 1024
|
| 735 |
+
num_shared_experts: 1
|
| 736 |
+
top_k: 2
|
| 737 |
+
moe_loss_coef: 0.0
|
| 738 |
+
routing_score_fn: softmax
|
| 739 |
+
routing_scale: 1.0
|
| 740 |
+
use_dynamic_bias: false
|
| 741 |
+
bias_update_rate: 0.001
|
| 742 |
+
expert_bias_clip: 0.0
|
| 743 |
+
routed_expert_usage_ema_decay: 0.99
|
| 744 |
+
routed_expert_usage_ema_dead_threshold: 1.0e-06
|
| 745 |
+
obs_embed_mlp_hidden: 2048
|
| 746 |
+
router_embed_mlp_hidden: 2048
|
| 747 |
+
router_obs_terms:
|
| 748 |
+
- unified/actor_link_reference_height
|
| 749 |
+
- unified/actor_link_link_mask
|
| 750 |
+
- unified/actor_link_time_valid
|
| 751 |
+
- unified/actor_link_target_pos
|
| 752 |
+
- unified/actor_link_target_rot6d
|
| 753 |
+
- unified/actor_link_time_offsets
|
| 754 |
+
d_model: 512
|
| 755 |
+
n_heads: 8
|
| 756 |
+
n_kv_heads: 4
|
| 757 |
+
use_gated_attn: true
|
| 758 |
+
n_layers: 1
|
| 759 |
+
dense_layer_at_first: false
|
| 760 |
+
ff_mult: 0.5
|
| 761 |
+
ff_mult_dense: 4
|
| 762 |
+
attn_dropout: 0.0
|
| 763 |
+
mlp_dropout: 0.0
|
| 764 |
+
max_ctx_len: 32
|
| 765 |
+
rope_max_seq_len: 8192
|
| 766 |
+
aux_sys_id_weight: 0.0
|
| 767 |
+
aux_dynamics_weight: 0.0
|
| 768 |
+
obs_norm:
|
| 769 |
+
enabled: true
|
| 770 |
+
epsilon: 1.0e-08
|
| 771 |
+
update_method: ema
|
| 772 |
+
ema_momentum: 0.0001
|
| 773 |
+
update_at_train: true
|
| 774 |
+
update_at_eval: false
|
| 775 |
+
enable_clipping: true
|
| 776 |
+
clip_range: 10.0
|
| 777 |
+
sync_interval_steps: 4
|
| 778 |
+
obs_schema:
|
| 779 |
+
flattened_obs:
|
| 780 |
+
seq_len: 1
|
| 781 |
+
terms:
|
| 782 |
+
- unified/actor_projected_gravity
|
| 783 |
+
- unified/actor_rel_robot_root_ang_vel
|
| 784 |
+
- unified/actor_dof_pos
|
| 785 |
+
- unified/actor_dof_vel
|
| 786 |
+
- unified/actor_last_action
|
| 787 |
+
- unified/actor_link_reference_height
|
| 788 |
+
- unified/actor_link_link_mask
|
| 789 |
+
- unified/actor_link_time_valid
|
| 790 |
+
flattened_obs_fut:
|
| 791 |
+
seq_len: 5
|
| 792 |
+
terms:
|
| 793 |
+
- unified/actor_link_target_pos
|
| 794 |
+
- unified/actor_link_position_error
|
| 795 |
+
- unified/actor_link_target_rot6d
|
| 796 |
+
- unified/actor_link_rotation_error6d
|
| 797 |
+
- unified/actor_link_time_offsets
|
| 798 |
+
output_dim: robot_action_dim
|
| 799 |
+
link_observation:
|
| 800 |
+
enabled: true
|
| 801 |
+
schema_version: g1_link_xz6d_v1
|
| 802 |
+
link_names:
|
| 803 |
+
- pelvis
|
| 804 |
+
- left_hip_roll_link
|
| 805 |
+
- left_knee_link
|
| 806 |
+
- left_ankle_roll_link
|
| 807 |
+
- right_hip_roll_link
|
| 808 |
+
- right_knee_link
|
| 809 |
+
- right_ankle_roll_link
|
| 810 |
+
- torso_link
|
| 811 |
+
- left_shoulder_roll_link
|
| 812 |
+
- left_elbow_link
|
| 813 |
+
- left_wrist_yaw_link
|
| 814 |
+
- right_shoulder_roll_link
|
| 815 |
+
- right_elbow_link
|
| 816 |
+
- right_wrist_yaw_link
|
| 817 |
+
frame_offsets:
|
| 818 |
+
- 1
|
| 819 |
+
- 2
|
| 820 |
+
- 3
|
| 821 |
+
- 4
|
| 822 |
+
- 5
|
| 823 |
+
mask:
|
| 824 |
+
min_active_links: 14
|
| 825 |
+
max_active_links: 14
|
| 826 |
+
full_probability: 1.0
|
| 827 |
+
strategy: modes
|
| 828 |
+
mode_candidates:
|
| 829 |
+
Pelvis-1:
|
| 830 |
+
- pelvis
|
| 831 |
+
UMI-2:
|
| 832 |
+
- left_wrist_yaw_link
|
| 833 |
+
- right_wrist_yaw_link
|
| 834 |
+
VR-3:
|
| 835 |
+
- pelvis
|
| 836 |
+
- left_wrist_yaw_link
|
| 837 |
+
- right_wrist_yaw_link
|
| 838 |
+
UMI-4:
|
| 839 |
+
- left_wrist_yaw_link
|
| 840 |
+
- right_wrist_yaw_link
|
| 841 |
+
- left_ankle_roll_link
|
| 842 |
+
- right_ankle_roll_link
|
| 843 |
+
VR-5:
|
| 844 |
+
- pelvis
|
| 845 |
+
- left_wrist_yaw_link
|
| 846 |
+
- right_wrist_yaw_link
|
| 847 |
+
- left_ankle_roll_link
|
| 848 |
+
- right_ankle_roll_link
|
| 849 |
+
UpperBody-6:
|
| 850 |
+
- left_shoulder_roll_link
|
| 851 |
+
- left_elbow_link
|
| 852 |
+
- left_wrist_yaw_link
|
| 853 |
+
- right_shoulder_roll_link
|
| 854 |
+
- right_elbow_link
|
| 855 |
+
- right_wrist_yaw_link
|
| 856 |
+
UpperBody-Mobile-7:
|
| 857 |
+
- pelvis
|
| 858 |
+
- left_shoulder_roll_link
|
| 859 |
+
- left_elbow_link
|
| 860 |
+
- left_wrist_yaw_link
|
| 861 |
+
- right_shoulder_roll_link
|
| 862 |
+
- right_elbow_link
|
| 863 |
+
- right_wrist_yaw_link
|
| 864 |
+
WholeBody-14:
|
| 865 |
+
- pelvis
|
| 866 |
+
- left_hip_roll_link
|
| 867 |
+
- left_knee_link
|
| 868 |
+
- left_ankle_roll_link
|
| 869 |
+
- right_hip_roll_link
|
| 870 |
+
- right_knee_link
|
| 871 |
+
- right_ankle_roll_link
|
| 872 |
+
- torso_link
|
| 873 |
+
- left_shoulder_roll_link
|
| 874 |
+
- left_elbow_link
|
| 875 |
+
- left_wrist_yaw_link
|
| 876 |
+
- right_shoulder_roll_link
|
| 877 |
+
- right_elbow_link
|
| 878 |
+
- right_wrist_yaw_link
|
| 879 |
+
mode_weights: null
|
| 880 |
+
report_every_resamples: 1000
|
| 881 |
+
clip_mode_labels: null
|
| 882 |
+
proprio_noise:
|
| 883 |
+
projected_gravity:
|
| 884 |
+
n_min: -0.1
|
| 885 |
+
n_max: 0.1
|
| 886 |
+
root_ang_vel:
|
| 887 |
+
n_min: -0.2
|
| 888 |
+
n_max: 0.2
|
| 889 |
+
dof_pos:
|
| 890 |
+
n_min: -0.01
|
| 891 |
+
n_max: 0.01
|
| 892 |
+
dof_vel:
|
| 893 |
+
n_min: -0.5
|
| 894 |
+
n_max: 0.5
|
| 895 |
+
include_error_terms: true
|
| 896 |
+
command_noise:
|
| 897 |
+
enabled: true
|
| 898 |
+
distribution: uniform
|
| 899 |
+
features:
|
| 900 |
+
target_pos:
|
| 901 |
+
- -0.05
|
| 902 |
+
- 0.05
|
| 903 |
+
position_error:
|
| 904 |
+
- -0.05
|
| 905 |
+
- 0.05
|
| 906 |
+
target_rot6d:
|
| 907 |
+
- -0.05
|
| 908 |
+
- 0.05
|
| 909 |
+
rotation_error6d:
|
| 910 |
+
- -0.05
|
| 911 |
+
- 0.05
|
HoloMotion_motion_tracking_model_v2.0.0/exported/model_10500.onnx
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b0681976135eed572d1d20aefc52ec65c149bdc636f2594a6436fa7136a3fc86
|
| 3 |
+
size 1647887681
|
HoloMotion_motion_tracking_model_v2.0.0/link_command_modes.json
ADDED
|
@@ -0,0 +1,209 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"mode_names": [
|
| 3 |
+
"Pelvis-1",
|
| 4 |
+
"UMI-2",
|
| 5 |
+
"VR-3",
|
| 6 |
+
"UMI-4",
|
| 7 |
+
"VR-5",
|
| 8 |
+
"UpperBody-6",
|
| 9 |
+
"UpperBody-Mobile-7",
|
| 10 |
+
"WholeBody-14"
|
| 11 |
+
],
|
| 12 |
+
"link_names": [
|
| 13 |
+
"pelvis",
|
| 14 |
+
"left_hip_roll_link",
|
| 15 |
+
"left_knee_link",
|
| 16 |
+
"left_ankle_roll_link",
|
| 17 |
+
"right_hip_roll_link",
|
| 18 |
+
"right_knee_link",
|
| 19 |
+
"right_ankle_roll_link",
|
| 20 |
+
"torso_link",
|
| 21 |
+
"left_shoulder_roll_link",
|
| 22 |
+
"left_elbow_link",
|
| 23 |
+
"left_wrist_yaw_link",
|
| 24 |
+
"right_shoulder_roll_link",
|
| 25 |
+
"right_elbow_link",
|
| 26 |
+
"right_wrist_yaw_link"
|
| 27 |
+
],
|
| 28 |
+
"mode_table": [
|
| 29 |
+
[
|
| 30 |
+
1.0,
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0,
|
| 38 |
+
0.0,
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
0.0,
|
| 42 |
+
0.0,
|
| 43 |
+
0.0
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
1.0,
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
1.0
|
| 60 |
+
],
|
| 61 |
+
[
|
| 62 |
+
1.0,
|
| 63 |
+
0.0,
|
| 64 |
+
0.0,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0,
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
1.0,
|
| 73 |
+
0.0,
|
| 74 |
+
0.0,
|
| 75 |
+
1.0
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
0.0,
|
| 79 |
+
0.0,
|
| 80 |
+
0.0,
|
| 81 |
+
1.0,
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
1.0,
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
0.0,
|
| 88 |
+
1.0,
|
| 89 |
+
0.0,
|
| 90 |
+
0.0,
|
| 91 |
+
1.0
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
1.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.0,
|
| 97 |
+
1.0,
|
| 98 |
+
0.0,
|
| 99 |
+
0.0,
|
| 100 |
+
1.0,
|
| 101 |
+
0.0,
|
| 102 |
+
0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.0,
|
| 106 |
+
0.0,
|
| 107 |
+
1.0
|
| 108 |
+
],
|
| 109 |
+
[
|
| 110 |
+
0.0,
|
| 111 |
+
0.0,
|
| 112 |
+
0.0,
|
| 113 |
+
0.0,
|
| 114 |
+
0.0,
|
| 115 |
+
0.0,
|
| 116 |
+
0.0,
|
| 117 |
+
0.0,
|
| 118 |
+
1.0,
|
| 119 |
+
1.0,
|
| 120 |
+
1.0,
|
| 121 |
+
1.0,
|
| 122 |
+
1.0,
|
| 123 |
+
1.0
|
| 124 |
+
],
|
| 125 |
+
[
|
| 126 |
+
1.0,
|
| 127 |
+
0.0,
|
| 128 |
+
0.0,
|
| 129 |
+
0.0,
|
| 130 |
+
0.0,
|
| 131 |
+
0.0,
|
| 132 |
+
0.0,
|
| 133 |
+
0.0,
|
| 134 |
+
1.0,
|
| 135 |
+
1.0,
|
| 136 |
+
1.0,
|
| 137 |
+
1.0,
|
| 138 |
+
1.0,
|
| 139 |
+
1.0
|
| 140 |
+
],
|
| 141 |
+
[
|
| 142 |
+
1.0,
|
| 143 |
+
1.0,
|
| 144 |
+
1.0,
|
| 145 |
+
1.0,
|
| 146 |
+
1.0,
|
| 147 |
+
1.0,
|
| 148 |
+
1.0,
|
| 149 |
+
1.0,
|
| 150 |
+
1.0,
|
| 151 |
+
1.0,
|
| 152 |
+
1.0,
|
| 153 |
+
1.0,
|
| 154 |
+
1.0,
|
| 155 |
+
1.0
|
| 156 |
+
]
|
| 157 |
+
],
|
| 158 |
+
"probabilities": [
|
| 159 |
+
0.125,
|
| 160 |
+
0.125,
|
| 161 |
+
0.125,
|
| 162 |
+
0.125,
|
| 163 |
+
0.125,
|
| 164 |
+
0.125,
|
| 165 |
+
0.125,
|
| 166 |
+
0.125
|
| 167 |
+
],
|
| 168 |
+
"sampling": "uniform_mode",
|
| 169 |
+
"mode_counts": [
|
| 170 |
+
998,
|
| 171 |
+
1022,
|
| 172 |
+
1026,
|
| 173 |
+
1030,
|
| 174 |
+
1052,
|
| 175 |
+
1020,
|
| 176 |
+
996,
|
| 177 |
+
1048
|
| 178 |
+
],
|
| 179 |
+
"custom_count": 0,
|
| 180 |
+
"num_envs": 8192,
|
| 181 |
+
"resample_calls": 1,
|
| 182 |
+
"process_id": 0,
|
| 183 |
+
"actor_features_masked": true,
|
| 184 |
+
"critic_targets_and_rewards": "complete_clean_reference",
|
| 185 |
+
"resample_on": "existing_command_reset_and_motion_reassignment",
|
| 186 |
+
"future_frames_share_mode": true,
|
| 187 |
+
"frame_offsets": [
|
| 188 |
+
1,
|
| 189 |
+
2,
|
| 190 |
+
3,
|
| 191 |
+
4,
|
| 192 |
+
5
|
| 193 |
+
],
|
| 194 |
+
"actor_frame_offsets": [
|
| 195 |
+
1,
|
| 196 |
+
2,
|
| 197 |
+
3,
|
| 198 |
+
4,
|
| 199 |
+
5
|
| 200 |
+
],
|
| 201 |
+
"critic_frame_offsets": [
|
| 202 |
+
1,
|
| 203 |
+
2,
|
| 204 |
+
3,
|
| 205 |
+
4,
|
| 206 |
+
5
|
| 207 |
+
],
|
| 208 |
+
"legacy_subset_sampler_replaced": true
|
| 209 |
+
}
|