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