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136
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138
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172
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173
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175
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177
+ "penalty_action_rate",
178
+ "limits_dof_pos",
179
+ "limits_torque",
180
+ "penalty_undesired_contact",
181
+ "penalty_feet_ori",
182
+ "penalty_ankle_roll",
183
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187
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202
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203
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204
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205
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206
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207
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208
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209
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210
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211
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212
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213
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214
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215
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216
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217
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218
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224
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225
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247
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248
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249
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250
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251
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252
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253
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254
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255
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256
+ "generate_videos": false,
257
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258
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259
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260
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261
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262
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263
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264
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265
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267
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268
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273
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286
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289
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290
+ "version": "1",
291
+ "mode": "cached",
292
+ "keep_in_ram": false
293
+ }
294
+ }
new_model_for_training_code_inference/config.yaml ADDED
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1
+ algo:
2
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3
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4
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5
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6
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7
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8
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9
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10
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11
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12
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13
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14
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15
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16
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17
+ discriminator:
18
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19
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20
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21
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22
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23
+ norm: true
24
+ norm_obs: true
25
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26
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27
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28
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29
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30
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31
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32
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33
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34
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35
+ lr_actor: 0.0003
36
+ lr_aux_critic: 0.0003
37
+ lr_critic: 0.0003
38
+ ortho_coef: 100
39
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40
+ expert_asm_ratio: 0.6
41
+ relabel_ratio: 0.8
42
+ reg_coeff: 0.05
43
+ q_loss_coef: 0.0
44
+ weight_decay_discriminator: 0
45
+ grad_penalty_discriminator: 10
46
+ lr_discriminator: 1.0e-05
47
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48
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49
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50
+ reg_coeff_aux: 0.02
51
+ z_buffer_size: 8192
52
+ workspace_train_config:
53
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54
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55
+ motions_root: ''
56
+ expert_npz_path: data/motion/lafan
57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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74
+ wandb_gname: null
75
+ wandb_pname: fbcpr_humenv
76
+ experiment_name: null
77
+ compile: true
78
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79
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80
+ buffer_device: cuda
81
+ evaluate: false
82
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83
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84
+ reward_eval_num_eval_episodes: 10
85
+ reward_eval_num_inference_samples: 50000
86
+ reward_eval_tasks: null
87
+ tracking_eval_num_envs: 60
88
+ tracking_eval_motions: null
89
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90
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91
+ _target_: humanoidverse.envs.motion_tracking.motion_tracking.LeggedRobotMotionTracking
92
+ _recursive_: false
93
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94
+ experiment_name: ${experiment_name}
95
+ num_envs: ${num_envs}
96
+ headless: ${headless}
97
+ simulator: ${simulator}
98
+ save_rendering_dir: null
99
+ ckpt_dir: null
100
+ robot: ${robot}
101
+ domain_rand: ${domain_rand}
102
+ rewards: ${rewards}
103
+ terrain: ${terrain}
104
+ obs: ${obs}
105
+ env_spacing: 5.0
106
+ max_episode_length_s: 10
107
+ normalization:
108
+ clip_actions: 100.0
109
+ clip_observations: 100.0
110
+ termination:
111
+ terminate_when_close_to_dof_pos_limit: false
112
+ terminate_when_close_to_dof_vel_limit: false
113
+ terminate_when_close_to_torque_limit: false
114
+ terminate_by_contact: false
115
+ terminate_by_gravity: false
116
+ terminate_by_low_height: false
117
+ terminate_when_motion_end: false
118
+ terminate_when_motion_far: false
119
+ termination_scales:
120
+ termination_close_to_dof_pos_limit: 0.98
121
+ termination_close_to_dof_vel_limit: 0.98
122
+ termination_close_to_torque_limit: 0.98
123
+ termination_min_base_height: 0.2
124
+ termination_gravity_x: 0.8
125
+ termination_gravity_y: 0.8
126
+ termination_motion_far_threshold: 1.5
127
+ termination_probality:
128
+ terminate_when_close_to_dof_pos_limit: 0.25
129
+ terminate_when_close_to_dof_vel_limit: 0.25
130
+ terminate_when_close_to_torque_limit: 0.25
131
+ termination_curriculum:
132
+ terminate_when_motion_far_curriculum: false
133
+ terminate_when_motion_far_initial_threshold: 1.5
134
+ terminate_when_motion_far_threshold_max: 0.5
135
+ terminate_when_motion_far_threshold_min: 0.25
136
+ terminate_when_motion_far_curriculum_degree: 2.5e-05
137
+ terminate_when_motion_far_curriculum_level_down_threshold: 40
138
+ terminate_when_motion_far_curriculum_level_up_threshold: 42
139
+ resample_motion_when_training: false
140
+ resample_time_interval_s: 150
141
+ noise_to_initial_level: 0
142
+ init_noise_scale:
143
+ dof_pos: 0.1
144
+ dof_vel: 0.15
145
+ root_pos: 0.05
146
+ root_rot: 10
147
+ root_vel: 0.01
148
+ root_ang_vel: 0.01
149
+ use_teleop_control: false
150
+ use_max_local_ref: false
151
+ use_max_global_ref: false
152
+ enforce_randomize_motion_start_eval: false
153
+ lie_down_init: true
154
+ lie_down_init_prob: 0.3
155
+ log_task_name: motion_tracking
156
+ eval_overrides:
157
+ env:
158
+ config:
159
+ max_episode_length_s: 100000
160
+ simulator:
161
+ _target_: humanoidverse.simulator.isaacsim.isaacsim.IsaacSim
162
+ _recursive_: false
163
+ config:
164
+ name: isaacsim
165
+ terrain: ${terrain}
166
+ plane:
167
+ static_friction: 1.0
168
+ dynamic_friction: 1.0
169
+ restitution: 0.0
170
+ sim:
171
+ fps: 200
172
+ control_decimation: 4
173
+ substeps: 1
174
+ physx:
175
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176
+ solver_type: 1
177
+ num_position_iterations: 4
178
+ num_velocity_iterations: 0
179
+ contact_offset: 0.01
180
+ rest_offset: 0.0
181
+ bounce_threshold_velocity: 0.5
182
+ max_depenetration_velocity: 1.0
183
+ default_buffer_size_multiplier: 5
184
+ contact_collection: 2
185
+ render_mode: human
186
+ render_interval: 4
187
+ scene:
188
+ num_envs: ${num_envs}
189
+ env_spacing: ${env.config.env_spacing}
190
+ replicate_physics: true
191
+ domain_rand:
192
+ push_robots: true
193
+ push_interval_s:
194
+ - 1
195
+ - 3
196
+ max_push_vel_xy: 0.5
197
+ max_push_ang_vel: 0.5
198
+ push_robot_recovery_time: 2.0
199
+ randomize_base_com: true
200
+ base_com_range:
201
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202
+ - -0.02
203
+ - 0.02
204
+ 'y':
205
+ - -0.02
206
+ - 0.02
207
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208
+ - -0.02
209
+ - 0.02
210
+ randomize_link_mass: true
211
+ link_mass_range:
212
+ - 0.95
213
+ - 1.05
214
+ randomize_pd_gain: false
215
+ kp_range:
216
+ - 0.75
217
+ - 1.25
218
+ kd_range:
219
+ - 0.75
220
+ - 1.25
221
+ randomize_friction: true
222
+ friction_range:
223
+ - -0.5
224
+ - 1.25
225
+ randomize_base_mass: false
226
+ randomize_torque_rfi: false
227
+ rfi_lim: 0.1
228
+ randomize_rfi_lim: false
229
+ rfi_lim_range:
230
+ - 0.5
231
+ - 1.5
232
+ randomize_ctrl_delay: false
233
+ ctrl_delay_step_range:
234
+ - 0
235
+ - 1
236
+ randomize_default_dof_pos: true
237
+ default_dof_pos_noise_range:
238
+ - -0.02
239
+ - 0.02
240
+ rewards:
241
+ set_reward: Zhengyi
242
+ set_reward_date: 20250320
243
+ only_positive_rewards: false
244
+ reward_scales:
245
+ teleop_body_position_extend: 1.0
246
+ teleop_vr_3point: 0
247
+ teleop_body_position_feet: 0
248
+ teleop_body_rotation_extend: 1
249
+ teleop_body_ang_velocity_extend: 1
250
+ teleop_body_velocity_extend: 1
251
+ teleop_joint_position: 0.75
252
+ teleop_joint_velocity: 0
253
+ penalty_torques: -1.0e-06
254
+ penalty_undesired_contact: -1
255
+ penalty_action_rate: -0.5
256
+ penalty_ankle_roll: -0.5
257
+ penalty_feet_ori: -0.1
258
+ feet_heading_alignment: -0.1
259
+ penalty_slippage: -1.0
260
+ limits_dof_pos: -10.0
261
+ limits_dof_vel: -5.0
262
+ limits_torque: -5.0
263
+ termination: -200.0
264
+ teleop_body_pos_lowerbody_weight: 0.5
265
+ teleop_body_pos_upperbody_weight: 0.5
266
+ desired_feet_max_height_for_this_air: 0.2
267
+ reward_tracking_sigma:
268
+ teleop_upper_body_pos: 0.01
269
+ teleop_lower_body_pos: 0.01
270
+ teleop_vr_3point_pos: 0.01
271
+ teleop_feet_pos: 0.01
272
+ teleop_body_rot: 0.1
273
+ teleop_body_vel: 10
274
+ teleop_body_ang_vel: 10
275
+ teleop_joint_pos: 1.0
276
+ teleop_joint_vel: 1.0
277
+ reward_penalty_curriculum: true
278
+ reward_initial_penalty_scale: 0.1
279
+ reward_min_penalty_scale: 0.0
280
+ reward_max_penalty_scale: 1.0
281
+ reward_penalty_level_down_threshold: 40
282
+ reward_penalty_level_up_threshold: 42
283
+ reward_penalty_degree: 1.0e-05
284
+ num_compute_average_epl: 10000
285
+ reward_limit:
286
+ soft_dof_pos_limit: 0.95
287
+ soft_dof_vel_limit: 0.95
288
+ soft_torque_limit: 0.95
289
+ reward_limits_curriculum:
290
+ soft_dof_pos_curriculum: false
291
+ soft_dof_pos_initial_limit: 1.15
292
+ soft_dof_pos_max_limit: 1.15
293
+ soft_dof_pos_min_limit: 0.95
294
+ soft_dof_pos_curriculum_degree: 2.5e-07
295
+ soft_dof_pos_curriculum_level_down_threshold: 40
296
+ soft_dof_pos_curriculum_level_up_threshold: 42
297
+ soft_dof_vel_curriculum: false
298
+ soft_dof_vel_initial_limit: 1.15
299
+ soft_dof_vel_max_limit: 1.25
300
+ soft_dof_vel_min_limit: 0.95
301
+ soft_dof_vel_curriculum_degree: 2.5e-07
302
+ soft_dof_vel_curriculum_level_down_threshold: 40
303
+ soft_dof_vel_curriculum_level_up_threshold: 42
304
+ soft_torque_curriculum: false
305
+ soft_torque_initial_limit: 1.15
306
+ soft_torque_max_limit: 1.25
307
+ soft_torque_min_limit: 0.85
308
+ soft_torque_curriculum_degree: 2.5e-07
309
+ soft_torque_curriculum_level_down_threshold: 40
310
+ soft_torque_curriculum_level_up_threshold: 42
311
+ reward_penalty_reward_names:
312
+ - penalty_torques
313
+ - penalty_action_rate
314
+ - limits_dof_pos
315
+ - limits_torque
316
+ - penalty_slippage
317
+ - penalty_undesired_contact
318
+ - penalty_ankle_roll
319
+ - penalty_feet_ori
320
+ robot:
321
+ dof_obs_size: 29
322
+ number_of_actions: ???
323
+ self_obs_max_coords: ???
324
+ num_bodies: 30
325
+ algo_obs_dim_dict: ???
326
+ key_bodies:
327
+ - left_ankle_roll_link
328
+ - right_ankle_roll_link
329
+ contact_bodies:
330
+ - left_ankle_roll_link
331
+ - right_ankle_roll_link
332
+ foot_name: ankle_roll_link
333
+ init_state:
334
+ pos:
335
+ - 0.0
336
+ - 0.0
337
+ - 0.8
338
+ rot:
339
+ - 0.0
340
+ - 0.0
341
+ - 0.0
342
+ - 1.0
343
+ lin_vel:
344
+ - 0.0
345
+ - 0.0
346
+ - 0.0
347
+ ang_vel:
348
+ - 0.0
349
+ - 0.0
350
+ - 0.0
351
+ default_joint_angles:
352
+ left_hip_pitch_joint: -0.1
353
+ left_hip_roll_joint: 0.0
354
+ left_hip_yaw_joint: 0.0
355
+ left_knee_joint: 0.3
356
+ left_ankle_pitch_joint: -0.2
357
+ left_ankle_roll_joint: 0.0
358
+ right_hip_pitch_joint: -0.1
359
+ right_hip_roll_joint: 0.0
360
+ right_hip_yaw_joint: 0.0
361
+ right_knee_joint: 0.3
362
+ right_ankle_pitch_joint: -0.2
363
+ right_ankle_roll_joint: 0.0
364
+ waist_yaw_joint: 0.0
365
+ waist_roll_joint: 0.0
366
+ waist_pitch_joint: 0.0
367
+ left_shoulder_pitch_joint: 0.0
368
+ left_shoulder_roll_joint: 0.0
369
+ left_shoulder_yaw_joint: 0.0
370
+ left_elbow_joint: 0.0
371
+ left_wrist_roll_joint: 0.0
372
+ left_wrist_pitch_joint: 0.0
373
+ left_wrist_yaw_joint: 0.0
374
+ right_shoulder_pitch_joint: 0.0
375
+ right_shoulder_roll_joint: 0.0
376
+ right_shoulder_yaw_joint: 0.0
377
+ right_elbow_joint: 0.0
378
+ right_wrist_roll_joint: 0.0
379
+ right_wrist_pitch_joint: 0.0
380
+ right_wrist_yaw_joint: 0.0
381
+ contact_pairs_multiplier: 16
382
+ num_key_bodies: ${len:${robot.key_bodies}}
383
+ mimic_small_marker_bodies: null
384
+ randomize_link_body_names:
385
+ - pelvis
386
+ - left_hip_yaw_link
387
+ - left_hip_roll_link
388
+ - left_hip_pitch_link
389
+ - left_knee_link
390
+ - right_hip_yaw_link
391
+ - right_hip_roll_link
392
+ - right_hip_pitch_link
393
+ - right_knee_link
394
+ control:
395
+ control_type: P
396
+ stiffness:
397
+ hip_yaw: 40.17924
398
+ hip_roll: 99.09843
399
+ hip_pitch: 99.09843
400
+ knee: 99.09843
401
+ ankle_pitch: 28.50125
402
+ ankle_roll: 28.50125
403
+ waist_yaw: 300
404
+ waist_roll: 300
405
+ waist_pitch: 300
406
+ shoulder_pitch: 14.25062
407
+ shoulder_roll: 14.25062
408
+ shoulder_yaw: 14.25062
409
+ elbow: 14.25062
410
+ wrist_roll: 14.25062
411
+ wrist_pitch: 16.77833
412
+ wrist_yaw: 16.77833
413
+ damping:
414
+ hip_yaw: 2.55789
415
+ hip_roll: 6.3088
416
+ hip_pitch: 6.3088
417
+ knee: 6.3088
418
+ ankle_pitch: 1.81445
419
+ ankle_roll: 1.81445
420
+ waist_yaw: 5
421
+ waist_roll: 5
422
+ waist_pitch: 5
423
+ shoulder_pitch: 0.90722
424
+ shoulder_roll: 0.90722
425
+ shoulder_yaw: 0.90722
426
+ elbow: 0.90722
427
+ wrist_roll: 0.90722
428
+ wrist_pitch: 1.06814
429
+ wrist_yaw: 1.06814
430
+ action_scale: 0.25
431
+ isaac_pd_scale: false
432
+ clamp_actions: 1.0
433
+ clip_torques: true
434
+ integral:
435
+ hip_yaw: 0.0
436
+ hip_roll: 0.0
437
+ hip_pitch: 0.0
438
+ knee: 0.0
439
+ ankle_pitch: 0.0
440
+ ankle_roll: 0.0
441
+ waist_yaw: 0.0
442
+ waist_roll: 0.0
443
+ waist_pitch: 0.0
444
+ shoulder_pitch: 2.0
445
+ shoulder_roll: 2.0
446
+ shoulder_yaw: 2.0
447
+ elbow: 2.0
448
+ wrist_roll: 1.5
449
+ wrist_pitch: 1.5
450
+ wrist_yaw: 1.5
451
+ action_clip_value: 5.0
452
+ action_rescale: true
453
+ normalize_action: true
454
+ normalize_action_from: 1.0
455
+ normalize_action_to: 5.0
456
+ asset:
457
+ collapse_fixed_joints: true
458
+ replace_cylinder_with_capsule: true
459
+ flip_visual_attachments: false
460
+ armature: 0.001
461
+ thickness: 0.01
462
+ max_angular_velocity: 1000.0
463
+ max_linear_velocity: 1000.0
464
+ density: 0.001
465
+ angular_damping: 0.0
466
+ linear_damping: 0.0
467
+ disable_gravity: null
468
+ fix_base_link: false
469
+ default_dof_drive_mode: 3
470
+ robot_type: g1_29dof_fakehand
471
+ urdf_file: g1/${robot.asset.robot_type}.urdf
472
+ usd_file: g1/g1_29dof_rev_1_0/g1_29dof_rev_1_0.usd
473
+ xml_file: g1/${robot.asset.robot_type}.xml
474
+ asset_root: humanoidverse/data/robots
475
+ self_collisions: 0
476
+ filter_ints: null
477
+ actions_dim: 29
478
+ lower_body_actions_dim: 12
479
+ upper_body_actions_dim: 17
480
+ body_keys:
481
+ - lower_body
482
+ - upper_body
483
+ policy_obs_dim: -1
484
+ critic_obs_dim: -1
485
+ num_feet: 2
486
+ right_foot_name: right_ankle_roll_link
487
+ left_foot_name: left_ankle_roll_link
488
+ knee_name: knee_link
489
+ has_torso: true
490
+ torso_name: torso_link
491
+ has_upper_body_dof: true
492
+ dof_names:
493
+ - left_hip_pitch_joint
494
+ - left_hip_roll_joint
495
+ - left_hip_yaw_joint
496
+ - left_knee_joint
497
+ - left_ankle_pitch_joint
498
+ - left_ankle_roll_joint
499
+ - right_hip_pitch_joint
500
+ - right_hip_roll_joint
501
+ - right_hip_yaw_joint
502
+ - right_knee_joint
503
+ - right_ankle_pitch_joint
504
+ - right_ankle_roll_joint
505
+ - waist_yaw_joint
506
+ - waist_roll_joint
507
+ - waist_pitch_joint
508
+ - left_shoulder_pitch_joint
509
+ - left_shoulder_roll_joint
510
+ - left_shoulder_yaw_joint
511
+ - left_elbow_joint
512
+ - left_wrist_roll_joint
513
+ - left_wrist_pitch_joint
514
+ - left_wrist_yaw_joint
515
+ - right_shoulder_pitch_joint
516
+ - right_shoulder_roll_joint
517
+ - right_shoulder_yaw_joint
518
+ - right_elbow_joint
519
+ - right_wrist_roll_joint
520
+ - right_wrist_pitch_joint
521
+ - right_wrist_yaw_joint
522
+ upper_dof_names:
523
+ - waist_yaw_joint
524
+ - waist_roll_joint
525
+ - waist_pitch_joint
526
+ - left_shoulder_pitch_joint
527
+ - left_shoulder_roll_joint
528
+ - left_shoulder_yaw_joint
529
+ - left_elbow_joint
530
+ - left_wrist_roll_joint
531
+ - left_wrist_pitch_joint
532
+ - left_wrist_yaw_joint
533
+ - right_shoulder_pitch_joint
534
+ - right_shoulder_roll_joint
535
+ - right_shoulder_yaw_joint
536
+ - right_elbow_joint
537
+ - right_wrist_roll_joint
538
+ - right_wrist_pitch_joint
539
+ - right_wrist_yaw_joint
540
+ upper_left_arm_dof_names:
541
+ - left_shoulder_pitch_joint
542
+ - left_shoulder_roll_joint
543
+ - left_shoulder_yaw_joint
544
+ - left_elbow_joint
545
+ - left_wrist_roll_joint
546
+ - left_wrist_pitch_joint
547
+ - left_wrist_yaw_joint
548
+ upper_right_arm_dof_names:
549
+ - right_shoulder_pitch_joint
550
+ - right_shoulder_roll_joint
551
+ - right_shoulder_yaw_joint
552
+ - right_elbow_joint
553
+ - right_wrist_roll_joint
554
+ - right_wrist_pitch_joint
555
+ - right_wrist_yaw_joint
556
+ lower_dof_names:
557
+ - left_hip_pitch_joint
558
+ - left_hip_roll_joint
559
+ - left_hip_yaw_joint
560
+ - left_knee_joint
561
+ - left_ankle_pitch_joint
562
+ - left_ankle_roll_joint
563
+ - right_hip_pitch_joint
564
+ - right_hip_roll_joint
565
+ - right_hip_yaw_joint
566
+ - right_knee_joint
567
+ - right_ankle_pitch_joint
568
+ - right_ankle_roll_joint
569
+ - waist_yaw_joint
570
+ - waist_roll_joint
571
+ - waist_pitch_joint
572
+ waist_dof_names:
573
+ - waist_yaw_joint
574
+ - waist_roll_joint
575
+ - waist_pitch_joint
576
+ waist_yaw_dof_name: waist_yaw_joint
577
+ waist_roll_dof_name: waist_roll_joint
578
+ waist_pitch_dof_name: waist_pitch_joint
579
+ arm_dof_names:
580
+ - left_shoulder_pitch_joint
581
+ - left_shoulder_roll_joint
582
+ - left_shoulder_yaw_joint
583
+ - left_elbow_joint
584
+ - left_wrist_roll_joint
585
+ - left_wrist_pitch_joint
586
+ - left_wrist_yaw_joint
587
+ - right_shoulder_pitch_joint
588
+ - right_shoulder_roll_joint
589
+ - right_shoulder_yaw_joint
590
+ - right_elbow_joint
591
+ - right_wrist_roll_joint
592
+ - right_wrist_pitch_joint
593
+ - right_wrist_yaw_joint
594
+ left_arm_dof_names:
595
+ - left_shoulder_pitch_joint
596
+ - left_shoulder_roll_joint
597
+ - left_shoulder_yaw_joint
598
+ - left_elbow_joint
599
+ - left_wrist_roll_joint
600
+ - left_wrist_pitch_joint
601
+ - left_wrist_yaw_joint
602
+ right_arm_dof_names:
603
+ - right_shoulder_pitch_joint
604
+ - right_shoulder_roll_joint
605
+ - right_shoulder_yaw_joint
606
+ - right_elbow_joint
607
+ - right_wrist_roll_joint
608
+ - right_wrist_pitch_joint
609
+ - right_wrist_yaw_joint
610
+ left_ankle_dof_names:
611
+ - left_ankle_pitch_joint
612
+ - left_ankle_roll_joint
613
+ right_ankle_dof_names:
614
+ - right_ankle_pitch_joint
615
+ - right_ankle_roll_joint
616
+ knee_dof_names:
617
+ - left_knee_joint
618
+ - right_knee_joint
619
+ symmetric_dofs_idx:
620
+ left_dofs_idx_no:
621
+ - 0
622
+ - 3
623
+ - 4
624
+ - 15
625
+ - 18
626
+ - 20
627
+ left_dofs_idx_op:
628
+ - 1
629
+ - 2
630
+ - 5
631
+ - 16
632
+ - 17
633
+ - 19
634
+ - 21
635
+ right_dofs_idx_no:
636
+ - 6
637
+ - 9
638
+ - 10
639
+ - 22
640
+ - 25
641
+ - 27
642
+ right_dofs_idx_op:
643
+ - 7
644
+ - 8
645
+ - 11
646
+ - 23
647
+ - 24
648
+ - 26
649
+ - 28
650
+ waist_dofs_idx_no:
651
+ - 14
652
+ waist_dofs_idx_op:
653
+ - 12
654
+ - 13
655
+ lower_left_dofs_idx_no:
656
+ - 0
657
+ - 3
658
+ - 4
659
+ lower_left_dofs_idx_op:
660
+ - 1
661
+ - 2
662
+ - 5
663
+ lower_right_dofs_idx_no:
664
+ - 6
665
+ - 9
666
+ - 10
667
+ lower_right_dofs_idx_op:
668
+ - 7
669
+ - 8
670
+ - 11
671
+ upper_left_dofs_idx_no:
672
+ - 3
673
+ - 6
674
+ - 8
675
+ upper_left_dofs_idx_op:
676
+ - 4
677
+ - 5
678
+ - 7
679
+ - 9
680
+ upper_right_dofs_idx_no:
681
+ - 10
682
+ - 13
683
+ - 15
684
+ upper_right_dofs_idx_op:
685
+ - 11
686
+ - 12
687
+ - 14
688
+ - 16
689
+ dof_pos_lower_limit_list:
690
+ - -2.5307
691
+ - -0.5236
692
+ - -2.7576
693
+ - -0.087267
694
+ - -0.87267
695
+ - -0.2618
696
+ - -2.5307
697
+ - -2.9671
698
+ - -2.7576
699
+ - -0.087267
700
+ - -0.87267
701
+ - -0.2618
702
+ - -2.618
703
+ - -0.52
704
+ - -0.52
705
+ - -3.0892
706
+ - -1.5882
707
+ - -2.618
708
+ - -1.0472
709
+ - -1.972222054
710
+ - -1.61443
711
+ - -1.61443
712
+ - -3.0892
713
+ - -2.2515
714
+ - -2.618
715
+ - -1.0472
716
+ - -1.972222054
717
+ - -1.61443
718
+ - -1.61443
719
+ dof_pos_upper_limit_list:
720
+ - 2.8798
721
+ - 2.9671
722
+ - 2.7576
723
+ - 2.8798
724
+ - 0.5236
725
+ - 0.2618
726
+ - 2.8798
727
+ - 0.5236
728
+ - 2.7576
729
+ - 2.8798
730
+ - 0.5236
731
+ - 0.2618
732
+ - 2.618
733
+ - 0.52
734
+ - 0.52
735
+ - 2.6704
736
+ - 2.2515
737
+ - 2.618
738
+ - 2.0944
739
+ - 1.972222054
740
+ - 1.61443
741
+ - 1.61443
742
+ - 2.6704
743
+ - 1.5882
744
+ - 2.618
745
+ - 2.0944
746
+ - 1.972222054
747
+ - 1.61443
748
+ - 1.61443
749
+ dof_vel_limit_list:
750
+ - 32.0
751
+ - 32.0
752
+ - 32.0
753
+ - 20.0
754
+ - 37.0
755
+ - 37.0
756
+ - 32.0
757
+ - 32.0
758
+ - 32.0
759
+ - 20.0
760
+ - 37.0
761
+ - 37.0
762
+ - 32.0
763
+ - 37.0
764
+ - 37.0
765
+ - 37.0
766
+ - 37.0
767
+ - 37.0
768
+ - 37.0
769
+ - 37.0
770
+ - 22.0
771
+ - 22.0
772
+ - 37.0
773
+ - 37.0
774
+ - 37.0
775
+ - 37.0
776
+ - 37.0
777
+ - 22.0
778
+ - 22.0
779
+ dof_effort_limit_list:
780
+ - 139.0
781
+ - 139.0
782
+ - 88.0
783
+ - 139.0
784
+ - 50.0
785
+ - 50.0
786
+ - 139.0
787
+ - 139.0
788
+ - 88.0
789
+ - 139.0
790
+ - 50.0
791
+ - 50.0
792
+ - 88.0
793
+ - 50.0
794
+ - 50.0
795
+ - 25.0
796
+ - 25.0
797
+ - 25.0
798
+ - 25.0
799
+ - 25.0
800
+ - 5.0
801
+ - 5.0
802
+ - 25.0
803
+ - 25.0
804
+ - 25.0
805
+ - 25.0
806
+ - 25.0
807
+ - 5.0
808
+ - 5.0
809
+ dof_effort_limit_scale: 0.8
810
+ dof_armature_list:
811
+ - 0.025101925
812
+ - 0.025101925
813
+ - 0.01017752004
814
+ - 0.025101925
815
+ - 0.00721945
816
+ - 0.00721945
817
+ - 0.025101925
818
+ - 0.025101925
819
+ - 0.01017752004
820
+ - 0.025101925
821
+ - 0.00721945
822
+ - 0.00721945
823
+ - 0.01017752004
824
+ - 0.00721945
825
+ - 0.00721945
826
+ - 0.003609725
827
+ - 0.003609725
828
+ - 0.003609725
829
+ - 0.003609725
830
+ - 0.003609725
831
+ - 0.00425
832
+ - 0.00425
833
+ - 0.003609725
834
+ - 0.003609725
835
+ - 0.003609725
836
+ - 0.003609725
837
+ - 0.003609725
838
+ - 0.00425
839
+ - 0.00425
840
+ dof_joint_friction_list:
841
+ - 0.03
842
+ - 0.03
843
+ - 0.03
844
+ - 0.03
845
+ - 0.03
846
+ - 0.03
847
+ - 0.03
848
+ - 0.03
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+ - left_ankle_pitch_link
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+ - torso_link
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+ - left_shoulder_pitch_link
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+ - left_shoulder_yaw_link
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+ - left_wrist_pitch_link
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+ - left_wrist_yaw_link
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+ - right_shoulder_yaw_link
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+ - right_elbow_link
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+ - right_wrist_roll_link
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+ - right_wrist_yaw_link
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+ freeze_hand: false
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943
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+ - left_ankle_pitch_link
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+ - left_ankle_roll_link
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+ - right_hip_pitch_link
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+ - right_hip_roll_link
952
+ - right_hip_yaw_link
953
+ - right_knee_link
954
+ - right_ankle_pitch_link
955
+ - right_ankle_roll_link
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+ - waist_yaw_link
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+ - waist_roll_link
958
+ - torso_link
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+ - left_shoulder_pitch_link
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+ - left_shoulder_yaw_link
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+ - left_elbow_link
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+ - left_wrist_roll_link
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+ - left_wrist_yaw_link
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+ - right_shoulder_pitch_link
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+ - right_shoulder_roll_link
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+ - right_shoulder_yaw_link
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+ - right_elbow_link
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+ - right_wrist_roll_link
971
+ - right_wrist_pitch_link
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+ - right_wrist_yaw_link
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+ limb_weight_group:
974
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976
+ - left_hip_yaw_link
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+ - left_knee_link
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+ - left_ankle_pitch_link
979
+ - left_ankle_roll_link
980
+ - - right_hip_pitch_link
981
+ - right_hip_roll_link
982
+ - right_hip_yaw_link
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+ - right_ankle_pitch_link
985
+ - right_ankle_roll_link
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+ - - pelvis
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+ - waist_yaw_link
988
+ - waist_roll_link
989
+ - torso_link
990
+ - - left_shoulder_pitch_link
991
+ - left_shoulder_roll_link
992
+ - left_shoulder_yaw_link
993
+ - left_elbow_link
994
+ - left_wrist_roll_link
995
+ - left_wrist_pitch_link
996
+ - left_wrist_yaw_link
997
+ - - right_shoulder_pitch_link
998
+ - right_shoulder_roll_link
999
+ - right_shoulder_yaw_link
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+ - right_elbow_link
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+ - right_wrist_roll_link
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+ - right_wrist_pitch_link
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+ - left_hip_roll_link
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+ - left_hip_yaw_link
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+ - left_knee_link
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+ - left_ankle_roll_link
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+ - right_hip_pitch_link
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+ - right_hip_yaw_link
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+ - left_shoulder_roll_link
1022
+ - left_shoulder_yaw_link
1023
+ - left_elbow_link
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+ - left_wrist_pitch_link
1026
+ - left_wrist_yaw_link
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+ - right_shoulder_pitch_link
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+ - right_shoulder_roll_link
1029
+ - right_shoulder_yaw_link
1030
+ - right_elbow_link
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+ - right_wrist_roll_link
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+ - right_wrist_pitch_link
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+ - right_wrist_yaw_link
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+ right_foot_name: r_foot_roll
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+ left_foot_name: l_foot_roll
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+ nums_extend_bodies: 1
1037
+ extend_config:
1038
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1039
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1045
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+ - 0.0
1048
+ - 0.0
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1050
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1056
+ - left_knee_link
1057
+ - left_ankle_pitch_link
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1059
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+ - right_ankle_roll_link
1065
+ - waist_yaw_link
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+ - waist_roll_link
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+ - torso_link
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+ - - left_ankle_roll_link
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+ - L_Ankle
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1332
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1334
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1335
+ - base_ang_vel: 3
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+ - dof_pos: ${robot.dof_obs_size}
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+ - dof_vel: ${robot.dof_obs_size}
1339
+ - actions: ${robot.dof_obs_size}
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+ - max_local_self: ${eval:'(3 + 6 + 3 + 3) * (${robot.num_bodies} + ${robot.motion.nums_extend_bodies})
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+ + 1 - 3 - 1'}
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+ - dif_local_rigid_body_pos: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'}
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+ - dif_local_rigid_body_rot: ${eval:'6 * ${robot.num_bodies} + 6 * ${robot.motion.nums_extend_bodies}'}
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+ - dif_local_rigid_body_vel: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'}
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+ - dif_local_rigid_body_ang_vel: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'}
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+ - local_ref_rigid_body_pos: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'}
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+ - local_ref_rigid_body_rot: ${eval:'6 * ${robot.num_bodies} + 6 * ${robot.motion.nums_extend_bodies}'}
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+ - local_ref_rigid_body_vel: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'}
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+ - local_ref_rigid_body_ang_vel: ${eval:'3 * ${robot.num_bodies} + 3 * ${robot.motion.nums_extend_bodies}'}
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+ post_compute_config: {}
1352
+ callbacks:
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+ im_eval:
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+ _target_: humanoidverse.trl.callbacks.im_eval_callback.ImEvalCallback
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+ eval_frequency: 500
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+ exp_base: ${hydra:runtime.choices.exp}
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+ exp_var: test
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+ experiment_name: ${exp_base}_${exp_var}
1359
+ experiment_dir: ${base_dir}/${project_name}/${experiment_name}-${timestamp}
1360
+ num_envs: 50
1361
+ project_name: Motivo
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