| algo: |
| model: |
| model_defaults: |
| medium: |
| model: simple |
| hidden_dim: 1024 |
| hidden_layers: 2 |
| residual: |
| model: residual |
| hidden_dim: 2048 |
| hidden_layers: 12 |
| model_type: medium |
| archi: |
| z_dim: 256 |
| hidden_dim: 1024 |
| hidden_layers: 2 |
| discriminator: |
| hidden_dim: 1024 |
| hidden_layers: 3 |
| b: |
| hidden_dim: 256 |
| hidden_layers: 1 |
| norm: true |
| norm_obs: true |
| actor_std: 0.05 |
| seq_length: 8 |
| config: |
| global_rank: 0 |
| world_size: 1 |
| eval_callbacks: null |
| agent_train_config: |
| discount: 0.98 |
| lr_f: 0.0003 |
| lr_b: 1.0e-05 |
| lr_actor: 0.0003 |
| lr_aux_critic: 0.0003 |
| lr_critic: 0.0003 |
| ortho_coef: 100 |
| train_goal_ratio: 0.2 |
| expert_asm_ratio: 0.6 |
| relabel_ratio: 0.8 |
| reg_coeff: 0.05 |
| q_loss_coef: 0.0 |
| weight_decay_discriminator: 0 |
| grad_penalty_discriminator: 10 |
| lr_discriminator: 1.0e-05 |
| use_mix_rollout: true |
| batch_size: 4096 |
| update_z_every_step: 100 |
| reg_coeff_aux: 0.02 |
| z_buffer_size: 8192 |
| workspace_train_config: |
| seed: 0 |
| motions: '' |
| motions_root: '' |
| expert_npz_path: data/motion/lafan |
| buffer_size: null |
| online_parallel_envs: 50 |
| log_every_updates: null |
| work_dir: null |
| num_env_steps: null |
| update_agent_every: null |
| num_seed_steps: null |
| num_agent_updates: null |
| checkpoint_every_steps: null |
| checkpoint_steps: 5000 |
| checkpoint: 'null' |
| prioritization: false |
| prioritization_min_val: 0.5 |
| prioritization_max_val: 5.0 |
| prioritization_scale: 2.0 |
| use_wandb: false |
| wandb_ename: null |
| wandb_gname: null |
| wandb_pname: fbcpr_humenv |
| experiment_name: null |
| compile: true |
| cudagraphs: false |
| device: cuda |
| buffer_device: cuda |
| evaluate: false |
| eval_every_steps: null |
| reward_eval_num_envs: 5 |
| reward_eval_num_eval_episodes: 10 |
| reward_eval_num_inference_samples: 50000 |
| reward_eval_tasks: null |
| tracking_eval_num_envs: 60 |
| tracking_eval_motions: null |
| tracking_eval_motions_root: null |
| env: |
| _target_: humanoidverse.envs.motion_tracking.motion_tracking.LeggedRobotMotionTracking |
| _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: 10 |
| 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: false |
| terminate_when_motion_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_motion_far_threshold: 1.5 |
| 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: 0.5 |
| terminate_when_motion_far_threshold_min: 0.25 |
| 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: false |
| resample_time_interval_s: 150 |
| 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 |
| use_max_local_ref: false |
| use_max_global_ref: false |
| enforce_randomize_motion_start_eval: false |
| lie_down_init: true |
| lie_down_init_prob: 0.3 |
| log_task_name: motion_tracking |
| eval_overrides: |
| env: |
| config: |
| max_episode_length_s: 100000 |
| simulator: |
| _target_: humanoidverse.simulator.isaacsim.isaacsim.IsaacSim |
| _recursive_: false |
| config: |
| name: isaacsim |
| terrain: ${terrain} |
| plane: |
| static_friction: 1.0 |
| dynamic_friction: 1.0 |
| restitution: 0.0 |
| sim: |
| fps: 200 |
| control_decimation: 4 |
| substeps: 1 |
| physx: |
| num_threads: 10 |
| 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 |
| render_mode: human |
| render_interval: 4 |
| scene: |
| num_envs: ${num_envs} |
| env_spacing: ${env.config.env_spacing} |
| replicate_physics: true |
| domain_rand: |
| push_robots: true |
| push_interval_s: |
| - 1 |
| - 3 |
| max_push_vel_xy: 0.5 |
| max_push_ang_vel: 0.5 |
| push_robot_recovery_time: 2.0 |
| randomize_base_com: true |
| base_com_range: |
| x: |
| - -0.02 |
| - 0.02 |
| 'y': |
| - -0.02 |
| - 0.02 |
| z: |
| - -0.02 |
| - 0.02 |
| randomize_link_mass: true |
| link_mass_range: |
| - 0.95 |
| - 1.05 |
| randomize_pd_gain: false |
| kp_range: |
| - 0.75 |
| - 1.25 |
| kd_range: |
| - 0.75 |
| - 1.25 |
| randomize_friction: true |
| friction_range: |
| - -0.5 |
| - 1.25 |
| randomize_base_mass: false |
| randomize_torque_rfi: false |
| rfi_lim: 0.1 |
| randomize_rfi_lim: false |
| rfi_lim_range: |
| - 0.5 |
| - 1.5 |
| randomize_ctrl_delay: false |
| ctrl_delay_step_range: |
| - 0 |
| - 1 |
| randomize_default_dof_pos: true |
| default_dof_pos_noise_range: |
| - -0.02 |
| - 0.02 |
| rewards: |
| set_reward: Zhengyi |
| set_reward_date: 20250320 |
| only_positive_rewards: false |
| reward_scales: |
| teleop_body_position_extend: 1.0 |
| teleop_vr_3point: 0 |
| teleop_body_position_feet: 0 |
| teleop_body_rotation_extend: 1 |
| teleop_body_ang_velocity_extend: 1 |
| teleop_body_velocity_extend: 1 |
| teleop_joint_position: 0.75 |
| teleop_joint_velocity: 0 |
| penalty_torques: -1.0e-06 |
| penalty_undesired_contact: -1 |
| penalty_action_rate: -0.5 |
| penalty_ankle_roll: -0.5 |
| penalty_feet_ori: -0.1 |
| feet_heading_alignment: -0.1 |
| penalty_slippage: -1.0 |
| limits_dof_pos: -10.0 |
| limits_dof_vel: -5.0 |
| limits_torque: -5.0 |
| termination: -200.0 |
| teleop_body_pos_lowerbody_weight: 0.5 |
| teleop_body_pos_upperbody_weight: 0.5 |
| desired_feet_max_height_for_this_air: 0.2 |
| reward_tracking_sigma: |
| teleop_upper_body_pos: 0.01 |
| teleop_lower_body_pos: 0.01 |
| teleop_vr_3point_pos: 0.01 |
| teleop_feet_pos: 0.01 |
| teleop_body_rot: 0.1 |
| teleop_body_vel: 10 |
| teleop_body_ang_vel: 10 |
| teleop_joint_pos: 1.0 |
| teleop_joint_vel: 1.0 |
| reward_penalty_curriculum: true |
| 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: 0.95 |
| soft_dof_vel_limit: 0.95 |
| soft_torque_limit: 0.95 |
| reward_limits_curriculum: |
| soft_dof_pos_curriculum: false |
| soft_dof_pos_initial_limit: 1.15 |
| soft_dof_pos_max_limit: 1.15 |
| 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: false |
| soft_dof_vel_initial_limit: 1.15 |
| soft_dof_vel_max_limit: 1.25 |
| 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: false |
| soft_torque_initial_limit: 1.15 |
| soft_torque_max_limit: 1.25 |
| 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_torques |
| - penalty_action_rate |
| - limits_dof_pos |
| - limits_torque |
| - penalty_slippage |
| - penalty_undesired_contact |
| - penalty_ankle_roll |
| - penalty_feet_ori |
| robot: |
| dof_obs_size: 29 |
| number_of_actions: ??? |
| self_obs_max_coords: ??? |
| num_bodies: 30 |
| algo_obs_dim_dict: ??? |
| key_bodies: |
| - left_ankle_roll_link |
| - right_ankle_roll_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: 0.0 |
| left_shoulder_roll_joint: 0.0 |
| left_shoulder_yaw_joint: 0.0 |
| left_elbow_joint: 0.0 |
| left_wrist_roll_joint: 0.0 |
| left_wrist_pitch_joint: 0.0 |
| left_wrist_yaw_joint: 0.0 |
| right_shoulder_pitch_joint: 0.0 |
| right_shoulder_roll_joint: 0.0 |
| right_shoulder_yaw_joint: 0.0 |
| right_elbow_joint: 0.0 |
| right_wrist_roll_joint: 0.0 |
| right_wrist_pitch_joint: 0.0 |
| right_wrist_yaw_joint: 0.0 |
| contact_pairs_multiplier: 16 |
| num_key_bodies: ${len:${robot.key_bodies}} |
| mimic_small_marker_bodies: null |
| randomize_link_body_names: |
| - pelvis |
| - left_hip_yaw_link |
| - left_hip_roll_link |
| - left_hip_pitch_link |
| - left_knee_link |
| - right_hip_yaw_link |
| - right_hip_roll_link |
| - right_hip_pitch_link |
| - right_knee_link |
| control: |
| control_type: P |
| stiffness: |
| hip_yaw: 40.17924 |
| hip_roll: 99.09843 |
| hip_pitch: 99.09843 |
| knee: 99.09843 |
| ankle_pitch: 28.50125 |
| ankle_roll: 28.50125 |
| waist_yaw: 300 |
| waist_roll: 300 |
| waist_pitch: 300 |
| shoulder_pitch: 14.25062 |
| shoulder_roll: 14.25062 |
| shoulder_yaw: 14.25062 |
| elbow: 14.25062 |
| wrist_roll: 14.25062 |
| wrist_pitch: 16.77833 |
| wrist_yaw: 16.77833 |
| damping: |
| hip_yaw: 2.55789 |
| hip_roll: 6.3088 |
| hip_pitch: 6.3088 |
| knee: 6.3088 |
| ankle_pitch: 1.81445 |
| ankle_roll: 1.81445 |
| waist_yaw: 5 |
| waist_roll: 5 |
| waist_pitch: 5 |
| shoulder_pitch: 0.90722 |
| shoulder_roll: 0.90722 |
| shoulder_yaw: 0.90722 |
| elbow: 0.90722 |
| wrist_roll: 0.90722 |
| wrist_pitch: 1.06814 |
| wrist_yaw: 1.06814 |
| action_scale: 0.25 |
| isaac_pd_scale: false |
| clamp_actions: 1.0 |
| clip_torques: true |
| integral: |
| hip_yaw: 0.0 |
| hip_roll: 0.0 |
| hip_pitch: 0.0 |
| knee: 0.0 |
| ankle_pitch: 0.0 |
| ankle_roll: 0.0 |
| waist_yaw: 0.0 |
| waist_roll: 0.0 |
| waist_pitch: 0.0 |
| shoulder_pitch: 2.0 |
| shoulder_roll: 2.0 |
| shoulder_yaw: 2.0 |
| elbow: 2.0 |
| wrist_roll: 1.5 |
| wrist_pitch: 1.5 |
| wrist_yaw: 1.5 |
| action_clip_value: 5.0 |
| action_rescale: true |
| normalize_action: true |
| normalize_action_from: 1.0 |
| normalize_action_to: 5.0 |
| 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_29dof_fakehand |
| urdf_file: g1/${robot.asset.robot_type}.urdf |
| usd_file: g1/g1_29dof_rev_1_0/g1_29dof_rev_1_0.usd |
| xml_file: g1/${robot.asset.robot_type}.xml |
| asset_root: humanoidverse/data/robots |
| self_collisions: 0 |
| filter_ints: null |
| actions_dim: 29 |
| lower_body_actions_dim: 12 |
| upper_body_actions_dim: 17 |
| body_keys: |
| - lower_body |
| - upper_body |
| 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 |
| - left_wrist_roll_joint |
| - left_wrist_pitch_joint |
| - left_wrist_yaw_joint |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| - right_wrist_roll_joint |
| - right_wrist_pitch_joint |
| - right_wrist_yaw_joint |
| upper_dof_names: |
| - waist_yaw_joint |
| - waist_roll_joint |
| - waist_pitch_joint |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| - left_wrist_roll_joint |
| - left_wrist_pitch_joint |
| - left_wrist_yaw_joint |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| - right_wrist_roll_joint |
| - right_wrist_pitch_joint |
| - right_wrist_yaw_joint |
| upper_left_arm_dof_names: |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| - left_wrist_roll_joint |
| - left_wrist_pitch_joint |
| - left_wrist_yaw_joint |
| upper_right_arm_dof_names: |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| - right_wrist_roll_joint |
| - right_wrist_pitch_joint |
| - right_wrist_yaw_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 |
| waist_yaw_dof_name: waist_yaw_joint |
| waist_roll_dof_name: waist_roll_joint |
| waist_pitch_dof_name: waist_pitch_joint |
| arm_dof_names: |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| - left_wrist_roll_joint |
| - left_wrist_pitch_joint |
| - left_wrist_yaw_joint |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| - right_wrist_roll_joint |
| - right_wrist_pitch_joint |
| - right_wrist_yaw_joint |
| left_arm_dof_names: |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| - left_wrist_roll_joint |
| - left_wrist_pitch_joint |
| - left_wrist_yaw_joint |
| right_arm_dof_names: |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| - right_wrist_roll_joint |
| - right_wrist_pitch_joint |
| - right_wrist_yaw_joint |
| left_ankle_dof_names: |
| - left_ankle_pitch_joint |
| - left_ankle_roll_joint |
| right_ankle_dof_names: |
| - right_ankle_pitch_joint |
| - right_ankle_roll_joint |
| knee_dof_names: |
| - left_knee_joint |
| - right_knee_joint |
| symmetric_dofs_idx: |
| left_dofs_idx_no: |
| - 0 |
| - 3 |
| - 4 |
| - 15 |
| - 18 |
| - 20 |
| left_dofs_idx_op: |
| - 1 |
| - 2 |
| - 5 |
| - 16 |
| - 17 |
| - 19 |
| - 21 |
| right_dofs_idx_no: |
| - 6 |
| - 9 |
| - 10 |
| - 22 |
| - 25 |
| - 27 |
| right_dofs_idx_op: |
| - 7 |
| - 8 |
| - 11 |
| - 23 |
| - 24 |
| - 26 |
| - 28 |
| waist_dofs_idx_no: |
| - 14 |
| waist_dofs_idx_op: |
| - 12 |
| - 13 |
| lower_left_dofs_idx_no: |
| - 0 |
| - 3 |
| - 4 |
| lower_left_dofs_idx_op: |
| - 1 |
| - 2 |
| - 5 |
| lower_right_dofs_idx_no: |
| - 6 |
| - 9 |
| - 10 |
| lower_right_dofs_idx_op: |
| - 7 |
| - 8 |
| - 11 |
| upper_left_dofs_idx_no: |
| - 3 |
| - 6 |
| - 8 |
| upper_left_dofs_idx_op: |
| - 4 |
| - 5 |
| - 7 |
| - 9 |
| upper_right_dofs_idx_no: |
| - 10 |
| - 13 |
| - 15 |
| upper_right_dofs_idx_op: |
| - 11 |
| - 12 |
| - 14 |
| - 16 |
| 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 |
| - -1.972222054 |
| - -1.61443 |
| - -1.61443 |
| - -3.0892 |
| - -2.2515 |
| - -2.618 |
| - -1.0472 |
| - -1.972222054 |
| - -1.61443 |
| - -1.61443 |
| 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 |
| - 1.972222054 |
| - 1.61443 |
| - 1.61443 |
| - 2.6704 |
| - 1.5882 |
| - 2.618 |
| - 2.0944 |
| - 1.972222054 |
| - 1.61443 |
| - 1.61443 |
| dof_vel_limit_list: |
| - 32.0 |
| - 32.0 |
| - 32.0 |
| - 20.0 |
| - 37.0 |
| - 37.0 |
| - 32.0 |
| - 32.0 |
| - 32.0 |
| - 20.0 |
| - 37.0 |
| - 37.0 |
| - 32.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 22.0 |
| - 22.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 37.0 |
| - 22.0 |
| - 22.0 |
| dof_effort_limit_list: |
| - 139.0 |
| - 139.0 |
| - 88.0 |
| - 139.0 |
| - 50.0 |
| - 50.0 |
| - 139.0 |
| - 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 |
| - 5.0 |
| - 5.0 |
| - 25.0 |
| - 25.0 |
| - 25.0 |
| - 25.0 |
| - 25.0 |
| - 5.0 |
| - 5.0 |
| dof_effort_limit_scale: 0.8 |
| dof_armature_list: |
| - 0.025101925 |
| - 0.025101925 |
| - 0.01017752004 |
| - 0.025101925 |
| - 0.00721945 |
| - 0.00721945 |
| - 0.025101925 |
| - 0.025101925 |
| - 0.01017752004 |
| - 0.025101925 |
| - 0.00721945 |
| - 0.00721945 |
| - 0.01017752004 |
| - 0.00721945 |
| - 0.00721945 |
| - 0.003609725 |
| - 0.003609725 |
| - 0.003609725 |
| - 0.003609725 |
| - 0.003609725 |
| - 0.00425 |
| - 0.00425 |
| - 0.003609725 |
| - 0.003609725 |
| - 0.003609725 |
| - 0.003609725 |
| - 0.003609725 |
| - 0.00425 |
| - 0.00425 |
| 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 |
| - 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 |
| - left_wrist_roll_link |
| - left_wrist_pitch_link |
| - left_wrist_yaw_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - right_wrist_roll_link |
| - right_wrist_pitch_link |
| - right_wrist_yaw_link |
| terminate_after_contacts_on: |
| - pelvis |
| - shoulder |
| - hip |
| penalize_contacts_on: |
| - pelvis |
| - shoulder |
| - hip |
| motion: |
| motion_file: data/lafan_tail.pkl |
| asset: |
| assetRoot: humanoidverse/data/robots/g1/ |
| assetFileName: g1_29dof.xml |
| urdfFileName: g1_29dof_fakehand.urdf |
| humanoid_type: g1_29dof_fakehand |
| 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 |
| uniform_sample: false |
| motion_fps_scale: 1.0 |
| standardize_motion_length: true |
| standardize_motion_length_value: 10 |
| reverse_motion: 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 |
| - left_wrist_roll_link |
| - left_wrist_pitch_link |
| - left_wrist_yaw_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - right_wrist_roll_link |
| - right_wrist_pitch_link |
| - right_wrist_yaw_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 |
| - left_wrist_roll_link |
| - left_wrist_pitch_link |
| - left_wrist_yaw_link |
| - - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - right_wrist_roll_link |
| - right_wrist_pitch_link |
| - right_wrist_yaw_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 |
| - left_wrist_roll_link |
| - left_wrist_pitch_link |
| - left_wrist_yaw_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - right_wrist_roll_link |
| - right_wrist_pitch_link |
| - right_wrist_yaw_link |
| right_foot_name: r_foot_roll |
| left_foot_name: l_foot_roll |
| nums_extend_bodies: 1 |
| extend_config: |
| - joint_name: head_link |
| parent_name: torso_link |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.35 |
| rot: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| motion_tracking_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 |
| - left_wrist_roll_link |
| - left_wrist_pitch_link |
| - left_wrist_yaw_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - right_wrist_roll_link |
| - right_wrist_pitch_link |
| - right_wrist_yaw_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 |
| - - 0.929 |
| - 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 |
| max_len: 450 |
| 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 |
| obs: |
| use_obs_filter: true |
| root_height_obs: true |
| obs_dict: |
| actor_obs: |
| - base_ang_vel |
| - projected_gravity |
| - dof_pos |
| - dof_vel |
| - actions |
| - history_actor |
| - max_local_self |
| critic_obs: |
| - max_local_self |
| obs_auxiliary: |
| history_actor: |
| base_ang_vel: 4 |
| projected_gravity: 4 |
| dof_pos: 4 |
| dof_vel: 4 |
| actions: 4 |
| obs_scales: |
| actions: 1.0 |
| dof_pos: 1.0 |
| dof_vel: 1.0 |
| max_local_self: 1.0 |
| base_lin_vel: 1.0 |
| base_ang_vel: 0.25 |
| projected_gravity: 1.0 |
| dif_local_rigid_body_pos: 1.0 |
| dif_local_rigid_body_rot: 1.0 |
| dif_local_rigid_body_vel: 1.0 |
| dif_local_rigid_body_ang_vel: 1.0 |
| local_ref_rigid_body_pos: 1.0 |
| local_ref_rigid_body_rot: 1.0 |
| local_ref_rigid_body_vel: 1.0 |
| history_actor: 1.0 |
| local_ref_rigid_body_ang_vel: 1.0 |
| noise_scales: |
| base_lin_vel: 0.0 |
| base_ang_vel: 0.2 |
| projected_gravity: 0.05 |
| dof_pos: 0.01 |
| dof_vel: 0.5 |
| actions: 0.0 |
| max_local_self: 0.0 |
| dif_local_rigid_body_pos: 0.0 |
| dif_local_rigid_body_rot: 0.0 |
| dif_local_rigid_body_vel: 0.0 |
| dif_local_rigid_body_ang_vel: 0.0 |
| local_ref_rigid_body_pos: 0.0 |
| local_ref_rigid_body_rot: 0.0 |
| local_ref_rigid_body_vel: 0.0 |
| history_actor: 0.0 |
| local_ref_rigid_body_ang_vel: 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 |
| - projected_gravity: 3 |
| - dof_pos: ${robot.dof_obs_size} |
| - dof_vel: ${robot.dof_obs_size} |
| - actions: ${robot.dof_obs_size} |
| - max_local_self: ${eval:'(3 + 6 + 3 + 3) * (${robot.num_bodies} + ${robot.motion.nums_extend_bodies}) |
| + 1 - 3 - 1'} |
| - dif_local_rigid_body_pos: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'} |
| - dif_local_rigid_body_rot: ${eval:'6 * ${robot.num_bodies} + 6 * ${robot.motion.nums_extend_bodies}'} |
| - dif_local_rigid_body_vel: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'} |
| - dif_local_rigid_body_ang_vel: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'} |
| - local_ref_rigid_body_pos: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'} |
| - local_ref_rigid_body_rot: ${eval:'6 * ${robot.num_bodies} + 6 * ${robot.motion.nums_extend_bodies}'} |
| - local_ref_rigid_body_vel: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'} |
| - local_ref_rigid_body_ang_vel: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'} |
| - vr_3point_pos: 9 |
| post_compute_config: {} |
| callbacks: |
| im_eval: |
| _target_: humanoidverse.trl.callbacks.im_eval_callback.ImEvalCallback |
| eval_frequency: 500 |
| exp_base: ${hydra:runtime.choices.exp} |
| exp_var: test |
| experiment_name: ${exp_base}_${exp_var} |
| experiment_dir: ${base_dir}/${project_name}/${experiment_name}-${timestamp} |
| num_envs: 50 |
| project_name: Motivo |
|
|
