Upload 16 files
Browse files- hact/g1/25_12_11_18-16-37_OmniH2O_STUDENT/env_cfg.json +1253 -0
- hact/g1/25_12_11_18-16-37_OmniH2O_STUDENT/events.out.tfevents.1765448202.fudan-System-Product-Name.3891408.0 +3 -0
- hact/g1/25_12_11_18-16-37_OmniH2O_STUDENT/model_50000.pt +3 -0
- hact/g1/25_12_11_18-16-37_OmniH2O_STUDENT/train_cfg.json +91 -0
- hact/g1/25_12_11_18-18-10_OmniH2O_STUDENT_FILTER/env_cfg.json +1253 -0
- hact/g1/25_12_11_18-18-10_OmniH2O_STUDENT_FILTER/events.out.tfevents.1765448294.fudan-System-Product-Name.3892270.0 +3 -0
- hact/g1/25_12_11_18-18-10_OmniH2O_STUDENT_FILTER/model_50000.pt +3 -0
- hact/g1/25_12_11_18-18-10_OmniH2O_STUDENT_FILTER/train_cfg.json +91 -0
- hact/h1/25_12_10_14-13-33_OmniH2O_STUDENT_filter/env_cfg.json +878 -0
- hact/h1/25_12_10_14-13-33_OmniH2O_STUDENT_filter/events.out.tfevents.1765347213.fudan-System-Product-Name.2927794.0 +3 -0
- hact/h1/25_12_10_14-13-33_OmniH2O_STUDENT_filter/model_50000.pt +3 -0
- hact/h1/25_12_10_14-13-33_OmniH2O_STUDENT_filter/train_cfg.json +90 -0
- hact/h1/25_12_10_14-16-23_OmniH2O_STUDENT/env_cfg.json +878 -0
- hact/h1/25_12_10_14-16-23_OmniH2O_STUDENT/events.out.tfevents.1765347384.fudan-System-Product-Name.2929451.0 +3 -0
- hact/h1/25_12_10_14-16-23_OmniH2O_STUDENT/model_50000.pt +3 -0
- hact/h1/25_12_10_14-16-23_OmniH2O_STUDENT/train_cfg.json +90 -0
hact/g1/25_12_11_18-16-37_OmniH2O_STUDENT/env_cfg.json
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|
|
|
| 1 |
+
{
|
| 2 |
+
"project_name": "GR1",
|
| 3 |
+
"notes": "Default Notes Hey!",
|
| 4 |
+
"exp_name": "humanoid_smpl",
|
| 5 |
+
"headless": true,
|
| 6 |
+
"seed": 1,
|
| 7 |
+
"no_log": false,
|
| 8 |
+
"test": false,
|
| 9 |
+
"sim_device": "cuda:1",
|
| 10 |
+
"rl_device": "cuda:1",
|
| 11 |
+
"sim_device_id": 0,
|
| 12 |
+
"metadata": false,
|
| 13 |
+
"play": false,
|
| 14 |
+
"train": {
|
| 15 |
+
"seed": 1,
|
| 16 |
+
"runner_class_name": "OnPolicyRunner",
|
| 17 |
+
"policy": {
|
| 18 |
+
"init_noise_std": 0.001,
|
| 19 |
+
"actor_hidden_dims": [
|
| 20 |
+
512,
|
| 21 |
+
256,
|
| 22 |
+
128
|
| 23 |
+
],
|
| 24 |
+
"critic_hidden_dims": [
|
| 25 |
+
512,
|
| 26 |
+
256,
|
| 27 |
+
128
|
| 28 |
+
],
|
| 29 |
+
"activation": "elu",
|
| 30 |
+
"rnn_type": "lstm",
|
| 31 |
+
"self_obs_size": 48
|
| 32 |
+
},
|
| 33 |
+
"add_short_history": false,
|
| 34 |
+
"short_history_length": 5,
|
| 35 |
+
"algorithm": {
|
| 36 |
+
"value_loss_coef": 1.0,
|
| 37 |
+
"use_clipped_value_loss": true,
|
| 38 |
+
"clip_param": 0.2,
|
| 39 |
+
"entropy_coef": 0.005,
|
| 40 |
+
"num_learning_epochs": 5,
|
| 41 |
+
"num_mini_batches": 4,
|
| 42 |
+
"learning_rate": 0.001,
|
| 43 |
+
"schedule": "adaptive",
|
| 44 |
+
"gamma": 0.99,
|
| 45 |
+
"lam": 0.95,
|
| 46 |
+
"desired_kl": 0.01,
|
| 47 |
+
"max_grad_norm": 0.2,
|
| 48 |
+
"action_smoothness_coef": 0.0
|
| 49 |
+
},
|
| 50 |
+
"runner": {
|
| 51 |
+
"policy_class_name": "ActorCritic",
|
| 52 |
+
"algorithm_class_name": "PPO",
|
| 53 |
+
"num_steps_per_env": 24,
|
| 54 |
+
"max_iterations": 1000,
|
| 55 |
+
"save_interval": 500,
|
| 56 |
+
"experiment_name": "robot:teleop",
|
| 57 |
+
"run_name": "OmniH2O_STUDENT",
|
| 58 |
+
"resume": true,
|
| 59 |
+
"load_run": "25_06_19_14-36-52_OmniH2O_STUDENT",
|
| 60 |
+
"checkpoint": -1,
|
| 61 |
+
"resume_path": "None",
|
| 62 |
+
"has_eval": false,
|
| 63 |
+
"eval_interval": 2500,
|
| 64 |
+
"auto_negative_samping": false
|
| 65 |
+
},
|
| 66 |
+
"distill": true,
|
| 67 |
+
"distill_model_config": {
|
| 68 |
+
"obs_v": "v-teleop-extend-max-full",
|
| 69 |
+
"future_tracks": true,
|
| 70 |
+
"num_traj_samples": 1,
|
| 71 |
+
"teleop_selected_keypoints_names": [
|
| 72 |
+
"pelvis",
|
| 73 |
+
"left_hip_pitch_link",
|
| 74 |
+
"left_hip_roll_link",
|
| 75 |
+
"left_hip_yaw_link",
|
| 76 |
+
"left_knee_link",
|
| 77 |
+
"left_ankle_pitch_link",
|
| 78 |
+
"left_ankle_roll_link",
|
| 79 |
+
"right_hip_pitch_link",
|
| 80 |
+
"right_hip_roll_link",
|
| 81 |
+
"right_hip_yaw_link",
|
| 82 |
+
"right_knee_link",
|
| 83 |
+
"right_ankle_pitch_link",
|
| 84 |
+
"right_ankle_roll_link",
|
| 85 |
+
"waist_yaw_link",
|
| 86 |
+
"left_shoulder_pitch_link",
|
| 87 |
+
"left_shoulder_roll_link",
|
| 88 |
+
"left_shoulder_yaw_link",
|
| 89 |
+
"left_elbow_link",
|
| 90 |
+
"right_shoulder_pitch_link",
|
| 91 |
+
"right_shoulder_roll_link",
|
| 92 |
+
"right_shoulder_yaw_link",
|
| 93 |
+
"right_elbow_link"
|
| 94 |
+
],
|
| 95 |
+
"num_observations": 993,
|
| 96 |
+
"num_privileged_obs": 1076
|
| 97 |
+
},
|
| 98 |
+
"dagger": {
|
| 99 |
+
"load_run_dagger": "25_06_18_13-48-37_OmniH2O_TEACHER",
|
| 100 |
+
"checkpoint_dagger": 50000,
|
| 101 |
+
"dagger_only": true,
|
| 102 |
+
"dagger_anneal": false
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"im_dump": false,
|
| 106 |
+
"task": "robot:teleop",
|
| 107 |
+
"load_run": "25_06_19_14-36-52_OmniH2O_STUDENT",
|
| 108 |
+
"num_envs": 1024,
|
| 109 |
+
"checkpoint": -1,
|
| 110 |
+
"stand_on_ground": false,
|
| 111 |
+
"joystick": false,
|
| 112 |
+
"tmp_freeze_upper": false,
|
| 113 |
+
"max_iterations": 1000,
|
| 114 |
+
"horovod": false,
|
| 115 |
+
"resume": true,
|
| 116 |
+
"experiment_name": null,
|
| 117 |
+
"run_name": "OmniH2O_STUDENT",
|
| 118 |
+
"compute_device_id": 0,
|
| 119 |
+
"graphics_device_id": 0,
|
| 120 |
+
"flex": false,
|
| 121 |
+
"use_gpu": true,
|
| 122 |
+
"use_gpu_pipeline": true,
|
| 123 |
+
"subscenes": 0,
|
| 124 |
+
"slices": 0,
|
| 125 |
+
"num_threads": 0,
|
| 126 |
+
"server_mode": false,
|
| 127 |
+
"no_virtual_display": false,
|
| 128 |
+
"render_o3d": false,
|
| 129 |
+
"debug": false,
|
| 130 |
+
"follow": false,
|
| 131 |
+
"add_proj": false,
|
| 132 |
+
"real_traj": false,
|
| 133 |
+
"use_wandb": true,
|
| 134 |
+
"train_velocity_estimation": false,
|
| 135 |
+
"use_velocity_estimation": false,
|
| 136 |
+
"asset": {
|
| 137 |
+
"file": "resources/robots/g1/urdf/g1_21dof.urdf",
|
| 138 |
+
"name": "robot",
|
| 139 |
+
"foot_name": "ankle_roll",
|
| 140 |
+
"penalize_contacts_on": [],
|
| 141 |
+
"terminate_after_contacts_on": [
|
| 142 |
+
"pelvis",
|
| 143 |
+
"shoulder",
|
| 144 |
+
"hip",
|
| 145 |
+
"knee"
|
| 146 |
+
],
|
| 147 |
+
"disable_gravity": false,
|
| 148 |
+
"collapse_fixed_joints": true,
|
| 149 |
+
"fix_base_link": false,
|
| 150 |
+
"default_dof_drive_mode": 1,
|
| 151 |
+
"self_collisions": 1,
|
| 152 |
+
"replace_cylinder_with_capsule": true,
|
| 153 |
+
"flip_visual_attachments": false,
|
| 154 |
+
"density": 0.001,
|
| 155 |
+
"angular_damping": 0.0,
|
| 156 |
+
"linear_damping": 0.0,
|
| 157 |
+
"max_angular_velocity": 1000.0,
|
| 158 |
+
"max_linear_velocity": 1000.0,
|
| 159 |
+
"armature": 0.0,
|
| 160 |
+
"thickness": 0.01,
|
| 161 |
+
"terminate_by_knee_distance": false,
|
| 162 |
+
"terminate_by_lin_vel": false,
|
| 163 |
+
"terminate_by_ang_vel": false,
|
| 164 |
+
"terminate_by_gravity": true,
|
| 165 |
+
"terminate_by_low_height": false,
|
| 166 |
+
"terminate_by_ref_motion_distance": true,
|
| 167 |
+
"terminate_by_1time_motion": true,
|
| 168 |
+
"termination_scales": {
|
| 169 |
+
"base_height": 0.3,
|
| 170 |
+
"base_vel": 10.0,
|
| 171 |
+
"base_ang_vel": 5.0,
|
| 172 |
+
"gravity_x": 0.7,
|
| 173 |
+
"gravity_y": 0.7,
|
| 174 |
+
"min_knee_distance": 0.0,
|
| 175 |
+
"max_ref_motion_distance": 1.5
|
| 176 |
+
},
|
| 177 |
+
"set_dof_properties": true,
|
| 178 |
+
"default_dof_prop_damping": [
|
| 179 |
+
0,
|
| 180 |
+
0,
|
| 181 |
+
0,
|
| 182 |
+
0,
|
| 183 |
+
0,
|
| 184 |
+
0,
|
| 185 |
+
0,
|
| 186 |
+
0,
|
| 187 |
+
0,
|
| 188 |
+
0,
|
| 189 |
+
0,
|
| 190 |
+
0,
|
| 191 |
+
0,
|
| 192 |
+
0,
|
| 193 |
+
0,
|
| 194 |
+
0,
|
| 195 |
+
0,
|
| 196 |
+
0,
|
| 197 |
+
0,
|
| 198 |
+
0,
|
| 199 |
+
0
|
| 200 |
+
],
|
| 201 |
+
"default_dof_prop_stiffness": [
|
| 202 |
+
0,
|
| 203 |
+
0,
|
| 204 |
+
0,
|
| 205 |
+
0,
|
| 206 |
+
0,
|
| 207 |
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|
| 314 |
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| 330 |
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| 334 |
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| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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|
| 354 |
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|
| 355 |
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| 356 |
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| 383 |
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|
| 384 |
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| 388 |
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0,
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| 392 |
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| 398 |
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| 407 |
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1,
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10
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| 417 |
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0.0,
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1
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|
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0,
|
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| 440 |
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|
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| 450 |
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| 452 |
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},
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0.0,
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1
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0.0,
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0.0,
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0.0,
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0.0
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],
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0.0,
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0.0,
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0.0
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| 474 |
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],
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|
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| 477 |
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| 481 |
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| 482 |
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|
| 484 |
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|
| 485 |
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| 486 |
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| 487 |
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| 488 |
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| 489 |
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|
| 490 |
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|
| 491 |
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|
| 492 |
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|
| 493 |
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|
| 494 |
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|
| 495 |
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|
| 496 |
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|
| 497 |
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|
| 498 |
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|
| 499 |
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}
|
| 500 |
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},
|
| 501 |
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|
| 502 |
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"teleop": true,
|
| 503 |
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|
| 504 |
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|
| 505 |
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|
| 506 |
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|
| 507 |
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"motion_file": "resources/motions/g1/amass_all_21dof.pkl",
|
| 508 |
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|
| 509 |
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|
| 510 |
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|
| 511 |
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|
| 512 |
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|
| 513 |
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|
| 514 |
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|
| 515 |
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|
| 516 |
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|
| 517 |
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|
| 518 |
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|
| 519 |
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|
| 520 |
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|
| 521 |
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|
| 522 |
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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|
| 527 |
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|
| 528 |
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|
| 529 |
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|
| 530 |
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| 531 |
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| 659 |
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| 660 |
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| 662 |
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| 665 |
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| 668 |
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| 670 |
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| 750 |
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| 777 |
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],
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| 780 |
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],
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| 783 |
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],
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| 785 |
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],
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| 808 |
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| 809 |
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},
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| 810 |
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| 811 |
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"num_compute_average_epl": 10000,
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| 812 |
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| 813 |
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0.02,
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| 814 |
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1.0
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| 815 |
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],
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0.25,
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| 822 |
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1.0
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| 823 |
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],
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| 825 |
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| 826 |
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| 827 |
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| 828 |
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| 829 |
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| 830 |
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| 831 |
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| 832 |
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| 833 |
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| 834 |
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| 835 |
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| 836 |
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| 837 |
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| 838 |
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| 839 |
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| 840 |
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| 841 |
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| 842 |
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| 843 |
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| 844 |
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]
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| 845 |
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},
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| 846 |
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"dt": 0.005,
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0.0,
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}
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},
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0.0
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],
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0.0
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],
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0.6,
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0.2,
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0.0,
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0.0
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],
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},
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10,
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0,
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],
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11.0,
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5,
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3.0
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]
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},
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15,
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17,
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20,
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1,
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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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10,
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12
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],
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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,
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18,
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19,
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20
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0,
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1,
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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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| 978 |
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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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],
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"extend": true,
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17,
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21,
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0
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],
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0.2,
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0,
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0
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],
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| 999 |
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0,
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0,
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0.45
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]
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],
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| 1011 |
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1,
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0,
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0
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1,
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0,
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0,
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0
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| 1021 |
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1,
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0,
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0,
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0
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]
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],
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| 1030 |
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22,
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| 1031 |
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23
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| 1032 |
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]
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| 1033 |
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},
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| 1034 |
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"Extend": {
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"extend": true,
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| 1037 |
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"left_hand_link",
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| 1039 |
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"right_hand_link",
|
| 1040 |
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"head_link"
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| 1041 |
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],
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| 1042 |
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23,
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0
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0.2,
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| 1050 |
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0,
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0
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| 1052 |
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],
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hact/g1/25_12_11_18-16-37_OmniH2O_STUDENT/model_50000.pt
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hact/g1/25_12_11_18-16-37_OmniH2O_STUDENT/train_cfg.json
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|
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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"num_traj_samples": 1,
|
| 58 |
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"teleop_selected_keypoints_names": [
|
| 59 |
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"pelvis",
|
| 60 |
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"left_hip_pitch_link",
|
| 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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"left_shoulder_pitch_link",
|
| 74 |
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|
| 75 |
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|
| 76 |
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"left_elbow_link",
|
| 77 |
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|
| 78 |
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|
| 79 |
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"right_shoulder_yaw_link",
|
| 80 |
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|
| 81 |
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],
|
| 82 |
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|
| 83 |
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"num_privileged_obs": 1076
|
| 84 |
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},
|
| 85 |
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"dagger": {
|
| 86 |
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"load_run_dagger": "25_06_18_13-48-37_OmniH2O_TEACHER",
|
| 87 |
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"checkpoint_dagger": 50000,
|
| 88 |
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"dagger_only": true,
|
| 89 |
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"dagger_anneal": false
|
| 90 |
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}
|
| 91 |
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}
|
hact/g1/25_12_11_18-18-10_OmniH2O_STUDENT_FILTER/env_cfg.json
ADDED
|
@@ -0,0 +1,1253 @@
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|
| 1 |
+
{
|
| 2 |
+
"project_name": "GR1",
|
| 3 |
+
"notes": "Default Notes Hey!",
|
| 4 |
+
"exp_name": "humanoid_smpl",
|
| 5 |
+
"headless": true,
|
| 6 |
+
"seed": 1,
|
| 7 |
+
"no_log": false,
|
| 8 |
+
"test": false,
|
| 9 |
+
"sim_device": "cuda:0",
|
| 10 |
+
"rl_device": "cuda:1",
|
| 11 |
+
"sim_device_id": 0,
|
| 12 |
+
"metadata": false,
|
| 13 |
+
"play": false,
|
| 14 |
+
"train": {
|
| 15 |
+
"seed": 1,
|
| 16 |
+
"runner_class_name": "OnPolicyRunner",
|
| 17 |
+
"policy": {
|
| 18 |
+
"init_noise_std": 0.001,
|
| 19 |
+
"actor_hidden_dims": [
|
| 20 |
+
512,
|
| 21 |
+
256,
|
| 22 |
+
128
|
| 23 |
+
],
|
| 24 |
+
"critic_hidden_dims": [
|
| 25 |
+
512,
|
| 26 |
+
256,
|
| 27 |
+
128
|
| 28 |
+
],
|
| 29 |
+
"activation": "elu",
|
| 30 |
+
"rnn_type": "lstm",
|
| 31 |
+
"self_obs_size": 48
|
| 32 |
+
},
|
| 33 |
+
"add_short_history": false,
|
| 34 |
+
"short_history_length": 5,
|
| 35 |
+
"algorithm": {
|
| 36 |
+
"value_loss_coef": 1.0,
|
| 37 |
+
"use_clipped_value_loss": true,
|
| 38 |
+
"clip_param": 0.2,
|
| 39 |
+
"entropy_coef": 0.005,
|
| 40 |
+
"num_learning_epochs": 5,
|
| 41 |
+
"num_mini_batches": 4,
|
| 42 |
+
"learning_rate": 0.001,
|
| 43 |
+
"schedule": "adaptive",
|
| 44 |
+
"gamma": 0.99,
|
| 45 |
+
"lam": 0.95,
|
| 46 |
+
"desired_kl": 0.01,
|
| 47 |
+
"max_grad_norm": 0.2,
|
| 48 |
+
"action_smoothness_coef": 0.0
|
| 49 |
+
},
|
| 50 |
+
"runner": {
|
| 51 |
+
"policy_class_name": "ActorCritic",
|
| 52 |
+
"algorithm_class_name": "PPO",
|
| 53 |
+
"num_steps_per_env": 24,
|
| 54 |
+
"max_iterations": 1000,
|
| 55 |
+
"save_interval": 500,
|
| 56 |
+
"experiment_name": "robot:teleop",
|
| 57 |
+
"run_name": "OmniH2O_STUDENT_FILTER",
|
| 58 |
+
"resume": true,
|
| 59 |
+
"load_run": "25_06_19_14-32-05_OmniH2O_STUDENT_filter",
|
| 60 |
+
"checkpoint": -1,
|
| 61 |
+
"resume_path": "None",
|
| 62 |
+
"has_eval": false,
|
| 63 |
+
"eval_interval": 2500,
|
| 64 |
+
"auto_negative_samping": false
|
| 65 |
+
},
|
| 66 |
+
"distill": true,
|
| 67 |
+
"distill_model_config": {
|
| 68 |
+
"obs_v": "v-teleop-extend-max-full",
|
| 69 |
+
"future_tracks": true,
|
| 70 |
+
"num_traj_samples": 1,
|
| 71 |
+
"teleop_selected_keypoints_names": [
|
| 72 |
+
"pelvis",
|
| 73 |
+
"left_hip_pitch_link",
|
| 74 |
+
"left_hip_roll_link",
|
| 75 |
+
"left_hip_yaw_link",
|
| 76 |
+
"left_knee_link",
|
| 77 |
+
"left_ankle_pitch_link",
|
| 78 |
+
"left_ankle_roll_link",
|
| 79 |
+
"right_hip_pitch_link",
|
| 80 |
+
"right_hip_roll_link",
|
| 81 |
+
"right_hip_yaw_link",
|
| 82 |
+
"right_knee_link",
|
| 83 |
+
"right_ankle_pitch_link",
|
| 84 |
+
"right_ankle_roll_link",
|
| 85 |
+
"waist_yaw_link",
|
| 86 |
+
"left_shoulder_pitch_link",
|
| 87 |
+
"left_shoulder_roll_link",
|
| 88 |
+
"left_shoulder_yaw_link",
|
| 89 |
+
"left_elbow_link",
|
| 90 |
+
"right_shoulder_pitch_link",
|
| 91 |
+
"right_shoulder_roll_link",
|
| 92 |
+
"right_shoulder_yaw_link",
|
| 93 |
+
"right_elbow_link"
|
| 94 |
+
],
|
| 95 |
+
"num_observations": 993,
|
| 96 |
+
"num_privileged_obs": 1076
|
| 97 |
+
},
|
| 98 |
+
"dagger": {
|
| 99 |
+
"load_run_dagger": "25_06_18_13-50-56_OmniH2O_TEACHER_filtered",
|
| 100 |
+
"checkpoint_dagger": 50000,
|
| 101 |
+
"dagger_only": true,
|
| 102 |
+
"dagger_anneal": false
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"im_dump": false,
|
| 106 |
+
"task": "robot:teleop",
|
| 107 |
+
"load_run": "25_06_19_14-32-05_OmniH2O_STUDENT_filter",
|
| 108 |
+
"num_envs": 1024,
|
| 109 |
+
"checkpoint": -1,
|
| 110 |
+
"stand_on_ground": false,
|
| 111 |
+
"joystick": false,
|
| 112 |
+
"tmp_freeze_upper": false,
|
| 113 |
+
"max_iterations": 1000,
|
| 114 |
+
"horovod": false,
|
| 115 |
+
"resume": true,
|
| 116 |
+
"experiment_name": null,
|
| 117 |
+
"run_name": "OmniH2O_STUDENT_FILTER",
|
| 118 |
+
"compute_device_id": 0,
|
| 119 |
+
"graphics_device_id": 0,
|
| 120 |
+
"flex": false,
|
| 121 |
+
"use_gpu": true,
|
| 122 |
+
"use_gpu_pipeline": true,
|
| 123 |
+
"subscenes": 0,
|
| 124 |
+
"slices": 0,
|
| 125 |
+
"num_threads": 0,
|
| 126 |
+
"server_mode": false,
|
| 127 |
+
"no_virtual_display": false,
|
| 128 |
+
"render_o3d": false,
|
| 129 |
+
"debug": false,
|
| 130 |
+
"follow": false,
|
| 131 |
+
"add_proj": false,
|
| 132 |
+
"real_traj": false,
|
| 133 |
+
"use_wandb": true,
|
| 134 |
+
"train_velocity_estimation": false,
|
| 135 |
+
"use_velocity_estimation": false,
|
| 136 |
+
"asset": {
|
| 137 |
+
"file": "resources/robots/g1/urdf/g1_21dof.urdf",
|
| 138 |
+
"name": "robot",
|
| 139 |
+
"foot_name": "ankle_roll",
|
| 140 |
+
"penalize_contacts_on": [],
|
| 141 |
+
"terminate_after_contacts_on": [
|
| 142 |
+
"pelvis",
|
| 143 |
+
"shoulder",
|
| 144 |
+
"hip",
|
| 145 |
+
"knee"
|
| 146 |
+
],
|
| 147 |
+
"disable_gravity": false,
|
| 148 |
+
"collapse_fixed_joints": true,
|
| 149 |
+
"fix_base_link": false,
|
| 150 |
+
"default_dof_drive_mode": 1,
|
| 151 |
+
"self_collisions": 1,
|
| 152 |
+
"replace_cylinder_with_capsule": true,
|
| 153 |
+
"flip_visual_attachments": false,
|
| 154 |
+
"density": 0.001,
|
| 155 |
+
"angular_damping": 0.0,
|
| 156 |
+
"linear_damping": 0.0,
|
| 157 |
+
"max_angular_velocity": 1000.0,
|
| 158 |
+
"max_linear_velocity": 1000.0,
|
| 159 |
+
"armature": 0.0,
|
| 160 |
+
"thickness": 0.01,
|
| 161 |
+
"terminate_by_knee_distance": false,
|
| 162 |
+
"terminate_by_lin_vel": false,
|
| 163 |
+
"terminate_by_ang_vel": false,
|
| 164 |
+
"terminate_by_gravity": true,
|
| 165 |
+
"terminate_by_low_height": false,
|
| 166 |
+
"terminate_by_ref_motion_distance": true,
|
| 167 |
+
"terminate_by_1time_motion": true,
|
| 168 |
+
"termination_scales": {
|
| 169 |
+
"base_height": 0.3,
|
| 170 |
+
"base_vel": 10.0,
|
| 171 |
+
"base_ang_vel": 5.0,
|
| 172 |
+
"gravity_x": 0.7,
|
| 173 |
+
"gravity_y": 0.7,
|
| 174 |
+
"min_knee_distance": 0.0,
|
| 175 |
+
"max_ref_motion_distance": 1.5
|
| 176 |
+
},
|
| 177 |
+
"set_dof_properties": true,
|
| 178 |
+
"default_dof_prop_damping": [
|
| 179 |
+
0,
|
| 180 |
+
0,
|
| 181 |
+
0,
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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0,
|
| 198 |
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0,
|
| 199 |
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0
|
| 200 |
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],
|
| 201 |
+
"default_dof_prop_stiffness": [
|
| 202 |
+
0,
|
| 203 |
+
0,
|
| 204 |
+
0,
|
| 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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|
| 219 |
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|
| 220 |
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|
| 221 |
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0,
|
| 222 |
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0
|
| 223 |
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],
|
| 224 |
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|
| 225 |
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0,
|
| 226 |
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0,
|
| 227 |
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0,
|
| 228 |
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|
| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 243 |
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|
| 244 |
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|
| 245 |
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0
|
| 246 |
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],
|
| 247 |
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|
| 248 |
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0,
|
| 249 |
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0,
|
| 250 |
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|
| 251 |
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| 266 |
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|
| 267 |
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|
| 268 |
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0
|
| 269 |
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],
|
| 270 |
+
"local_upper_reward": false,
|
| 271 |
+
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|
| 272 |
+
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|
| 273 |
+
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|
| 274 |
+
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|
| 275 |
+
"clip_motion_goal": true,
|
| 276 |
+
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|
| 277 |
+
},
|
| 278 |
+
"commands": {
|
| 279 |
+
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|
| 280 |
+
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|
| 281 |
+
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|
| 282 |
+
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|
| 283 |
+
"heading_command": false,
|
| 284 |
+
"ranges": {
|
| 285 |
+
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|
| 286 |
+
0.0,
|
| 287 |
+
0.0
|
| 288 |
+
],
|
| 289 |
+
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|
| 290 |
+
0.0,
|
| 291 |
+
0.0
|
| 292 |
+
],
|
| 293 |
+
"ang_vel_yaw": [
|
| 294 |
+
0.0,
|
| 295 |
+
0.0
|
| 296 |
+
],
|
| 297 |
+
"heading": [
|
| 298 |
+
0.0,
|
| 299 |
+
0.0
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"control": {
|
| 304 |
+
"control_type": "P",
|
| 305 |
+
"stiffness": {
|
| 306 |
+
"hip_yaw": 100,
|
| 307 |
+
"hip_roll": 100,
|
| 308 |
+
"hip_pitch": 100,
|
| 309 |
+
"knee": 150,
|
| 310 |
+
"ankle": 40,
|
| 311 |
+
"waist": 200,
|
| 312 |
+
"shoulder": 40,
|
| 313 |
+
"elbow": 40
|
| 314 |
+
},
|
| 315 |
+
"damping": {
|
| 316 |
+
"hip_yaw": 5,
|
| 317 |
+
"hip_roll": 5,
|
| 318 |
+
"hip_pitch": 5,
|
| 319 |
+
"knee": 6,
|
| 320 |
+
"ankle": 2,
|
| 321 |
+
"waist": 6,
|
| 322 |
+
"shoulder": 1,
|
| 323 |
+
"elbow": 1
|
| 324 |
+
},
|
| 325 |
+
"action_scale": 0.25,
|
| 326 |
+
"decimation": 4,
|
| 327 |
+
"action_filt": false,
|
| 328 |
+
"action_cutfreq": 4.0
|
| 329 |
+
},
|
| 330 |
+
"domain_rand": {
|
| 331 |
+
"randomize_base_com": true,
|
| 332 |
+
"base_com_range": {
|
| 333 |
+
"x": [
|
| 334 |
+
-0.1,
|
| 335 |
+
0.1
|
| 336 |
+
],
|
| 337 |
+
"y": [
|
| 338 |
+
-0.1,
|
| 339 |
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0.1
|
| 340 |
+
],
|
| 341 |
+
"z": [
|
| 342 |
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-0.1,
|
| 343 |
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0.1
|
| 344 |
+
]
|
| 345 |
+
},
|
| 346 |
+
"randomize_link_mass": true,
|
| 347 |
+
"randomize_link_body_names": [
|
| 348 |
+
"pelvis",
|
| 349 |
+
"left_hip_yaw_link",
|
| 350 |
+
"left_hip_roll_link",
|
| 351 |
+
"left_hip_pitch_link",
|
| 352 |
+
"right_hip_yaw_link",
|
| 353 |
+
"right_hip_roll_link",
|
| 354 |
+
"right_hip_pitch_link",
|
| 355 |
+
"waist_yaw_link"
|
| 356 |
+
],
|
| 357 |
+
"link_mass_range": [
|
| 358 |
+
0.7,
|
| 359 |
+
1.3
|
| 360 |
+
],
|
| 361 |
+
"randomize_pd_gain": true,
|
| 362 |
+
"kp_range": [
|
| 363 |
+
0.75,
|
| 364 |
+
1.25
|
| 365 |
+
],
|
| 366 |
+
"kd_range": [
|
| 367 |
+
0.75,
|
| 368 |
+
1.25
|
| 369 |
+
],
|
| 370 |
+
"randomize_friction": false,
|
| 371 |
+
"friction_range": [
|
| 372 |
+
-0.6,
|
| 373 |
+
1.2
|
| 374 |
+
],
|
| 375 |
+
"randomize_base_mass": false,
|
| 376 |
+
"push_robots": true,
|
| 377 |
+
"push_interval_s": 5,
|
| 378 |
+
"max_push_vel_xy": 1.0,
|
| 379 |
+
"randomize_torque_rfi": true,
|
| 380 |
+
"rfi_lim": 0.1,
|
| 381 |
+
"randomize_rfi_lim": true,
|
| 382 |
+
"rfi_lim_range": [
|
| 383 |
+
0.5,
|
| 384 |
+
1.5
|
| 385 |
+
],
|
| 386 |
+
"randomize_ctrl_delay": true,
|
| 387 |
+
"ctrl_delay_step_range": [
|
| 388 |
+
0,
|
| 389 |
+
3
|
| 390 |
+
],
|
| 391 |
+
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|
| 392 |
+
-5.0,
|
| 393 |
+
10.0
|
| 394 |
+
],
|
| 395 |
+
"randomize_motion_ref_xyz": true,
|
| 396 |
+
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|
| 397 |
+
[
|
| 398 |
+
-0.02,
|
| 399 |
+
0.02
|
| 400 |
+
],
|
| 401 |
+
[
|
| 402 |
+
-0.02,
|
| 403 |
+
0.02
|
| 404 |
+
],
|
| 405 |
+
[
|
| 406 |
+
-0.1,
|
| 407 |
+
0.1
|
| 408 |
+
]
|
| 409 |
+
],
|
| 410 |
+
"motion_package_loss": false,
|
| 411 |
+
"package_loss_range": [
|
| 412 |
+
1,
|
| 413 |
+
10
|
| 414 |
+
],
|
| 415 |
+
"package_loss_interval_s": 2,
|
| 416 |
+
"born_offset": false,
|
| 417 |
+
"born_offset_curriculum": false,
|
| 418 |
+
"born_offset_level_down_threshold": 50,
|
| 419 |
+
"born_offset_level_up_threshold": 120,
|
| 420 |
+
"level_degree": 5e-05,
|
| 421 |
+
"born_distance": 0.25,
|
| 422 |
+
"born_offset_range": [
|
| 423 |
+
0.0,
|
| 424 |
+
1
|
| 425 |
+
],
|
| 426 |
+
"born_offset_possibility": 1.0,
|
| 427 |
+
"born_heading_curriculum": false,
|
| 428 |
+
"born_heading_randomization": false,
|
| 429 |
+
"born_heading_level_down_threshold": 50,
|
| 430 |
+
"born_heading_level_up_threshold": 120,
|
| 431 |
+
"born_heading_degree": 10,
|
| 432 |
+
"born_heading_range": [
|
| 433 |
+
0,
|
| 434 |
+
180
|
| 435 |
+
],
|
| 436 |
+
"born_heading_level_degree": 5e-05,
|
| 437 |
+
"push_interval": 251.0,
|
| 438 |
+
"package_loss_interval": 101.0
|
| 439 |
+
},
|
| 440 |
+
"env": {
|
| 441 |
+
"num_envs": 1024,
|
| 442 |
+
"num_observations": 1821,
|
| 443 |
+
"num_privileged_obs": 1904,
|
| 444 |
+
"num_actions": 21,
|
| 445 |
+
"env_spacing": 2.0,
|
| 446 |
+
"send_timeouts": true,
|
| 447 |
+
"episode_length_s": 20,
|
| 448 |
+
"test": false,
|
| 449 |
+
"add_short_history": true,
|
| 450 |
+
"short_history_length": 25,
|
| 451 |
+
"im_eval": false
|
| 452 |
+
},
|
| 453 |
+
"init_state": {
|
| 454 |
+
"pos": [
|
| 455 |
+
0.0,
|
| 456 |
+
0.0,
|
| 457 |
+
1
|
| 458 |
+
],
|
| 459 |
+
"rot": [
|
| 460 |
+
0.0,
|
| 461 |
+
0.0,
|
| 462 |
+
0.0,
|
| 463 |
+
1.0
|
| 464 |
+
],
|
| 465 |
+
"lin_vel": [
|
| 466 |
+
0.0,
|
| 467 |
+
0.0,
|
| 468 |
+
0.0
|
| 469 |
+
],
|
| 470 |
+
"ang_vel": [
|
| 471 |
+
0.0,
|
| 472 |
+
0.0,
|
| 473 |
+
0.0
|
| 474 |
+
],
|
| 475 |
+
"max_linvel": 0.5,
|
| 476 |
+
"max_angvel": 0.5,
|
| 477 |
+
"default_joint_angles": {
|
| 478 |
+
"left_hip_yaw_joint": 0.0,
|
| 479 |
+
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|
| 480 |
+
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|
| 481 |
+
"left_knee_joint": 0.3,
|
| 482 |
+
"left_ankle_pitch_joint": -0.2,
|
| 483 |
+
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|
| 484 |
+
"right_hip_yaw_joint": 0.0,
|
| 485 |
+
"right_hip_roll_joint": 0,
|
| 486 |
+
"right_hip_pitch_joint": -0.1,
|
| 487 |
+
"right_knee_joint": 0.3,
|
| 488 |
+
"right_ankle_pitch_joint": -0.2,
|
| 489 |
+
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|
| 490 |
+
"waist_yaw_joint": 0.0,
|
| 491 |
+
"left_shoulder_pitch_joint": 0.0,
|
| 492 |
+
"left_shoulder_roll_joint": 0,
|
| 493 |
+
"left_shoulder_yaw_joint": 0.0,
|
| 494 |
+
"left_elbow_joint": 0.0,
|
| 495 |
+
"right_shoulder_pitch_joint": 0.0,
|
| 496 |
+
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|
| 497 |
+
"right_shoulder_yaw_joint": 0.0,
|
| 498 |
+
"right_elbow_joint": 0.0
|
| 499 |
+
}
|
| 500 |
+
},
|
| 501 |
+
"motion": {
|
| 502 |
+
"teleop": true,
|
| 503 |
+
"visualize": false,
|
| 504 |
+
"recycle_motion": true,
|
| 505 |
+
"terrain_level_down_distance": 0.5,
|
| 506 |
+
"num_markers": 21,
|
| 507 |
+
"motion_file": "resources/motions/g1/amass_filter_21dof.pkl",
|
| 508 |
+
"skeleton_file": "resources/robots/g1/xml/g1_21dof.xml",
|
| 509 |
+
"marker_file": "resources/objects/Marker/traj_marker.urdf",
|
| 510 |
+
"num_dof_pos_reference": 21,
|
| 511 |
+
"num_dof_vel_reference": 21,
|
| 512 |
+
"extend_hand": false,
|
| 513 |
+
"extend_head": false,
|
| 514 |
+
"future_tracks": false,
|
| 515 |
+
"num_traj_samples": 1,
|
| 516 |
+
"traj_sample_timestep_inv": 50,
|
| 517 |
+
"curriculum": false,
|
| 518 |
+
"obs_noise_by_curriculum": false,
|
| 519 |
+
"push_robot_by_curriculum": false,
|
| 520 |
+
"kpkd_by_curriculum": false,
|
| 521 |
+
"rfi_by_curriculum": false,
|
| 522 |
+
"teleop_level_up_episode_length": 100,
|
| 523 |
+
"teleop_level_down_episode_length": 30,
|
| 524 |
+
"teleop_obs_version": "v-teleop-extend-vr-max-nolinvel",
|
| 525 |
+
"teleop_selected_keypoints_names": [],
|
| 526 |
+
"resample_motions_for_envs": true,
|
| 527 |
+
"resample_motions_for_envs_interval_s": 1000,
|
| 528 |
+
"visualize_config": {
|
| 529 |
+
"customize_color": true,
|
| 530 |
+
"marker_joint_colors": [
|
| 531 |
+
[
|
| 532 |
+
0.157,
|
| 533 |
+
0.231,
|
| 534 |
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0.361
|
| 535 |
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],
|
| 536 |
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| 537 |
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| 538 |
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| 539 |
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| 540 |
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| 541 |
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| 542 |
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| 543 |
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| 544 |
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| 545 |
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| 546 |
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| 547 |
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| 549 |
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| 550 |
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| 551 |
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| 556 |
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| 567 |
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| 571 |
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| 576 |
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| 581 |
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| 588 |
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| 589 |
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| 590 |
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| 591 |
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| 593 |
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| 594 |
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| 595 |
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|
| 596 |
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|
| 597 |
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|
| 598 |
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0.298,
|
| 599 |
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0.498
|
| 600 |
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],
|
| 601 |
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| 602 |
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|
| 603 |
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|
| 604 |
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|
| 605 |
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|
| 606 |
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| 607 |
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| 608 |
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|
| 609 |
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| 610 |
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|
| 611 |
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| 612 |
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| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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| 617 |
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| 618 |
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| 619 |
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| 620 |
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|
| 621 |
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| 622 |
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| 623 |
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|
| 624 |
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| 625 |
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|
| 626 |
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| 627 |
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| 628 |
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|
| 629 |
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0
|
| 630 |
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],
|
| 631 |
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|
| 632 |
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1,
|
| 633 |
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0.651,
|
| 634 |
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0
|
| 635 |
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],
|
| 636 |
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[
|
| 637 |
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0,
|
| 638 |
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1,
|
| 639 |
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0
|
| 640 |
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],
|
| 641 |
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| 642 |
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1,
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| 643 |
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0,
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| 644 |
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0
|
| 645 |
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],
|
| 646 |
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| 647 |
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1,
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| 648 |
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0,
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| 649 |
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| 650 |
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|
| 651 |
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| 652 |
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| 653 |
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0,
|
| 654 |
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|
| 655 |
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]
|
| 656 |
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]
|
| 657 |
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},
|
| 658 |
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|
| 659 |
+
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|
| 660 |
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},
|
| 661 |
+
"noise": {
|
| 662 |
+
"add_noise": true,
|
| 663 |
+
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|
| 664 |
+
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|
| 665 |
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"base_z": 0.05,
|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
+
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|
| 670 |
+
"ang_vel": 0.5,
|
| 671 |
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"gravity": 0.1,
|
| 672 |
+
"in_contact": 0.1,
|
| 673 |
+
"height_measurements": 0.05,
|
| 674 |
+
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|
| 675 |
+
"body_rot": 0.01,
|
| 676 |
+
"body_lin_vel": 0.01,
|
| 677 |
+
"body_ang_vel": 0.01,
|
| 678 |
+
"delta_base_pos": 0.05,
|
| 679 |
+
"delta_heading": 0.1,
|
| 680 |
+
"last_action": 0.0,
|
| 681 |
+
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|
| 682 |
+
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|
| 683 |
+
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|
| 684 |
+
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|
| 685 |
+
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|
| 686 |
+
"ref_dof_pos": 0.01,
|
| 687 |
+
"ref_dof_vel": 0.01,
|
| 688 |
+
"ref_gravity": 0.01
|
| 689 |
+
}
|
| 690 |
+
},
|
| 691 |
+
"normalization": {
|
| 692 |
+
"obs_scales": {
|
| 693 |
+
"lin_vel": 1.0,
|
| 694 |
+
"lin_acc": 1.0,
|
| 695 |
+
"ang_vel": 1.0,
|
| 696 |
+
"dof_pos": 1.0,
|
| 697 |
+
"dof_vel": 1.0,
|
| 698 |
+
"height_measurements": 1.0,
|
| 699 |
+
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|
| 700 |
+
"body_lin_vel": 1.0,
|
| 701 |
+
"body_rot": 1.0,
|
| 702 |
+
"delta_base_pos": 1.0,
|
| 703 |
+
"delta_heading": 1.0
|
| 704 |
+
},
|
| 705 |
+
"clip_actions": 10,
|
| 706 |
+
"clip_observations": 100.0
|
| 707 |
+
},
|
| 708 |
+
"rewards": {
|
| 709 |
+
"scales": {
|
| 710 |
+
"torques": -0.0001,
|
| 711 |
+
"torque_limits": -2.0,
|
| 712 |
+
"dof_acc": -1.1e-05,
|
| 713 |
+
"dof_vel": -0.004,
|
| 714 |
+
"lower_action_rate": -3.0,
|
| 715 |
+
"upper_action_rate": -0.625,
|
| 716 |
+
"dof_pos_limits": "-100.0*1.25",
|
| 717 |
+
"dof_vel_limits": -50.0,
|
| 718 |
+
"termination": "-200*1.25",
|
| 719 |
+
"feet_contact_forces": -0.75,
|
| 720 |
+
"stumble": "-1000.0*1.25",
|
| 721 |
+
"feet_air_time_teleop": 1000,
|
| 722 |
+
"slippage": "-30.0*1.25",
|
| 723 |
+
"feet_ori": "-50.0*1.25",
|
| 724 |
+
"in_the_air": -200,
|
| 725 |
+
"stable_lower_when_vrclose": 0,
|
| 726 |
+
"stable_lower_when_vrclose_positive": 0,
|
| 727 |
+
"orientation": -200.0,
|
| 728 |
+
"feet_height": 0,
|
| 729 |
+
"feet_max_height_for_this_air": -2500,
|
| 730 |
+
"closing": 0,
|
| 731 |
+
"teleop_selected_joint_position": 32,
|
| 732 |
+
"teleop_selected_joint_vel": 16,
|
| 733 |
+
"teleop_body_position": 0.0,
|
| 734 |
+
"teleop_body_position_extend": 30,
|
| 735 |
+
"teleop_body_position_extend_small_sigma": 0.0,
|
| 736 |
+
"teleop_body_position_extend_upper": 0,
|
| 737 |
+
"teleop_body_position_vr_3keypoints": 50,
|
| 738 |
+
"teleop_body_rotation": 20.0,
|
| 739 |
+
"teleop_body_vel": 8.0,
|
| 740 |
+
"teleop_body_ang_vel": 8.0,
|
| 741 |
+
"freeze_upper_body": false
|
| 742 |
+
},
|
| 743 |
+
"desired_feet_max_height_for_this_air": 0.1,
|
| 744 |
+
"feet_height_target": 0.2,
|
| 745 |
+
"vrclose_threshold": 0.1,
|
| 746 |
+
"ref_stable_velocity_threshold": 0.05,
|
| 747 |
+
"only_positive_rewards": false,
|
| 748 |
+
"tracking_sigma": 0.25,
|
| 749 |
+
"soft_dof_pos_limit": 0.85,
|
| 750 |
+
"soft_dof_vel_limit": 0.85,
|
| 751 |
+
"soft_torque_limit": 0.85,
|
| 752 |
+
"max_contact_force": 400.0,
|
| 753 |
+
"base_height_target": 1.0,
|
| 754 |
+
"body_pos_sigma": 0.5,
|
| 755 |
+
"body_rot_sigma": 1.0,
|
| 756 |
+
"body_vel_sigma": 1.0,
|
| 757 |
+
"body_ang_vel_sigma": 1.0,
|
| 758 |
+
"joint_pos_sigma": 1.0,
|
| 759 |
+
"joint_vel_sigma": 1.0,
|
| 760 |
+
"max_penalty_compared_to_positive": false,
|
| 761 |
+
"max_penalty_compared_to_positive_coef": 0.5,
|
| 762 |
+
"scaling_down_body_pos_sigma": true,
|
| 763 |
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],
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15,
|
| 1214 |
+
16,
|
| 1215 |
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17,
|
| 1216 |
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18,
|
| 1217 |
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19,
|
| 1218 |
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20,
|
| 1219 |
+
21,
|
| 1220 |
+
22,
|
| 1221 |
+
23,
|
| 1222 |
+
24,
|
| 1223 |
+
25
|
| 1224 |
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],
|
| 1225 |
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"picked_link": [
|
| 1226 |
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|
| 1227 |
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|
| 1228 |
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|
| 1229 |
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|
| 1230 |
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|
| 1231 |
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|
| 1232 |
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|
| 1233 |
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|
| 1234 |
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|
| 1235 |
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|
| 1236 |
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|
| 1237 |
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|
| 1238 |
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|
| 1239 |
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|
| 1240 |
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|
| 1241 |
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17,
|
| 1242 |
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18,
|
| 1243 |
+
19,
|
| 1244 |
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20,
|
| 1245 |
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21,
|
| 1246 |
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22,
|
| 1247 |
+
23,
|
| 1248 |
+
24,
|
| 1249 |
+
25,
|
| 1250 |
+
26
|
| 1251 |
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]
|
| 1252 |
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}
|
| 1253 |
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}
|
hact/g1/25_12_11_18-18-10_OmniH2O_STUDENT_FILTER/events.out.tfevents.1765448294.fudan-System-Product-Name.3892270.0
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:aa60334583d843401c95550090b41bbd3df2187ec99b08fbdde7629eac545c93
|
| 3 |
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size 7462161
|
hact/g1/25_12_11_18-18-10_OmniH2O_STUDENT_FILTER/model_50000.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:89ae4c2c1ecaf58e4caed6b0155c56de9df5fd28e312b162015f90b6339cf974
|
| 3 |
+
size 8964514
|
hact/g1/25_12_11_18-18-10_OmniH2O_STUDENT_FILTER/train_cfg.json
ADDED
|
@@ -0,0 +1,91 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"seed": 1,
|
| 3 |
+
"runner_class_name": "OnPolicyRunner",
|
| 4 |
+
"policy": {
|
| 5 |
+
"init_noise_std": 0.001,
|
| 6 |
+
"actor_hidden_dims": [
|
| 7 |
+
512,
|
| 8 |
+
256,
|
| 9 |
+
128
|
| 10 |
+
],
|
| 11 |
+
"critic_hidden_dims": [
|
| 12 |
+
512,
|
| 13 |
+
256,
|
| 14 |
+
128
|
| 15 |
+
],
|
| 16 |
+
"activation": "elu",
|
| 17 |
+
"rnn_type": "lstm",
|
| 18 |
+
"self_obs_size": 48
|
| 19 |
+
},
|
| 20 |
+
"add_short_history": false,
|
| 21 |
+
"short_history_length": 5,
|
| 22 |
+
"algorithm": {
|
| 23 |
+
"value_loss_coef": 1.0,
|
| 24 |
+
"use_clipped_value_loss": true,
|
| 25 |
+
"clip_param": 0.2,
|
| 26 |
+
"entropy_coef": 0.005,
|
| 27 |
+
"num_learning_epochs": 5,
|
| 28 |
+
"num_mini_batches": 4,
|
| 29 |
+
"learning_rate": 0.001,
|
| 30 |
+
"schedule": "adaptive",
|
| 31 |
+
"gamma": 0.99,
|
| 32 |
+
"lam": 0.95,
|
| 33 |
+
"desired_kl": 0.01,
|
| 34 |
+
"max_grad_norm": 0.2,
|
| 35 |
+
"action_smoothness_coef": 0.0
|
| 36 |
+
},
|
| 37 |
+
"runner": {
|
| 38 |
+
"policy_class_name": "ActorCritic",
|
| 39 |
+
"algorithm_class_name": "PPO",
|
| 40 |
+
"num_steps_per_env": 24,
|
| 41 |
+
"max_iterations": 1000,
|
| 42 |
+
"save_interval": 500,
|
| 43 |
+
"experiment_name": "robot:teleop",
|
| 44 |
+
"run_name": "OmniH2O_STUDENT_FILTER",
|
| 45 |
+
"resume": true,
|
| 46 |
+
"load_run": "25_06_19_14-32-05_OmniH2O_STUDENT_filter",
|
| 47 |
+
"checkpoint": -1,
|
| 48 |
+
"resume_path": "None",
|
| 49 |
+
"has_eval": false,
|
| 50 |
+
"eval_interval": 2500,
|
| 51 |
+
"auto_negative_samping": false
|
| 52 |
+
},
|
| 53 |
+
"distill": true,
|
| 54 |
+
"distill_model_config": {
|
| 55 |
+
"obs_v": "v-teleop-extend-max-full",
|
| 56 |
+
"future_tracks": true,
|
| 57 |
+
"num_traj_samples": 1,
|
| 58 |
+
"teleop_selected_keypoints_names": [
|
| 59 |
+
"pelvis",
|
| 60 |
+
"left_hip_pitch_link",
|
| 61 |
+
"left_hip_roll_link",
|
| 62 |
+
"left_hip_yaw_link",
|
| 63 |
+
"left_knee_link",
|
| 64 |
+
"left_ankle_pitch_link",
|
| 65 |
+
"left_ankle_roll_link",
|
| 66 |
+
"right_hip_pitch_link",
|
| 67 |
+
"right_hip_roll_link",
|
| 68 |
+
"right_hip_yaw_link",
|
| 69 |
+
"right_knee_link",
|
| 70 |
+
"right_ankle_pitch_link",
|
| 71 |
+
"right_ankle_roll_link",
|
| 72 |
+
"waist_yaw_link",
|
| 73 |
+
"left_shoulder_pitch_link",
|
| 74 |
+
"left_shoulder_roll_link",
|
| 75 |
+
"left_shoulder_yaw_link",
|
| 76 |
+
"left_elbow_link",
|
| 77 |
+
"right_shoulder_pitch_link",
|
| 78 |
+
"right_shoulder_roll_link",
|
| 79 |
+
"right_shoulder_yaw_link",
|
| 80 |
+
"right_elbow_link"
|
| 81 |
+
],
|
| 82 |
+
"num_observations": 993,
|
| 83 |
+
"num_privileged_obs": 1076
|
| 84 |
+
},
|
| 85 |
+
"dagger": {
|
| 86 |
+
"load_run_dagger": "25_06_18_13-50-56_OmniH2O_TEACHER_filtered",
|
| 87 |
+
"checkpoint_dagger": 50000,
|
| 88 |
+
"dagger_only": true,
|
| 89 |
+
"dagger_anneal": false
|
| 90 |
+
}
|
| 91 |
+
}
|
hact/h1/25_12_10_14-13-33_OmniH2O_STUDENT_filter/env_cfg.json
ADDED
|
@@ -0,0 +1,878 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"project_name": "H1",
|
| 3 |
+
"notes": "Default Notes",
|
| 4 |
+
"exp_name": "humanoid_smpl",
|
| 5 |
+
"headless": true,
|
| 6 |
+
"seed": 1,
|
| 7 |
+
"no_log": false,
|
| 8 |
+
"test": false,
|
| 9 |
+
"sim_device": "cuda:1",
|
| 10 |
+
"rl_device": "cuda:0",
|
| 11 |
+
"sim_device_id": 0,
|
| 12 |
+
"metadata": false,
|
| 13 |
+
"play": false,
|
| 14 |
+
"train": {
|
| 15 |
+
"seed": 1,
|
| 16 |
+
"runner_class_name": "OnPolicyRunner",
|
| 17 |
+
"policy": {
|
| 18 |
+
"init_noise_std": 0.001,
|
| 19 |
+
"actor_hidden_dims": [
|
| 20 |
+
512,
|
| 21 |
+
256,
|
| 22 |
+
128
|
| 23 |
+
],
|
| 24 |
+
"critic_hidden_dims": [
|
| 25 |
+
512,
|
| 26 |
+
256,
|
| 27 |
+
128
|
| 28 |
+
],
|
| 29 |
+
"activation": "elu",
|
| 30 |
+
"rnn_type": "lstm",
|
| 31 |
+
"self_obs_size": 44
|
| 32 |
+
},
|
| 33 |
+
"add_short_history": false,
|
| 34 |
+
"short_history_length": 5,
|
| 35 |
+
"algorithm": {
|
| 36 |
+
"value_loss_coef": 1.0,
|
| 37 |
+
"use_clipped_value_loss": true,
|
| 38 |
+
"clip_param": 0.2,
|
| 39 |
+
"entropy_coef": 0.005,
|
| 40 |
+
"num_learning_epochs": 5,
|
| 41 |
+
"num_mini_batches": 4,
|
| 42 |
+
"learning_rate": 0.001,
|
| 43 |
+
"schedule": "adaptive",
|
| 44 |
+
"gamma": 0.99,
|
| 45 |
+
"lam": 0.95,
|
| 46 |
+
"desired_kl": 0.01,
|
| 47 |
+
"max_grad_norm": 0.2,
|
| 48 |
+
"action_smoothness_coef": 0.0
|
| 49 |
+
},
|
| 50 |
+
"runner": {
|
| 51 |
+
"policy_class_name": "ActorCritic",
|
| 52 |
+
"algorithm_class_name": "PPO",
|
| 53 |
+
"num_steps_per_env": 24,
|
| 54 |
+
"max_iterations": 50000,
|
| 55 |
+
"save_interval": 500,
|
| 56 |
+
"experiment_name": "h1:teleop",
|
| 57 |
+
"run_name": "OmniH2O_STUDENT_filter",
|
| 58 |
+
"resume": false,
|
| 59 |
+
"load_run": "",
|
| 60 |
+
"checkpoint": 0,
|
| 61 |
+
"resume_path": "None",
|
| 62 |
+
"has_eval": false,
|
| 63 |
+
"eval_interval": 2500,
|
| 64 |
+
"auto_negative_samping": false
|
| 65 |
+
},
|
| 66 |
+
"distill": true,
|
| 67 |
+
"distill_model_config": {
|
| 68 |
+
"obs_v": "v-teleop-extend-max-full",
|
| 69 |
+
"extend_head": true,
|
| 70 |
+
"future_tracks": true,
|
| 71 |
+
"num_traj_samples": 1,
|
| 72 |
+
"teleop_selected_keypoints_names": [
|
| 73 |
+
"pelvis",
|
| 74 |
+
"left_hip_yaw_link",
|
| 75 |
+
"left_hip_roll_link",
|
| 76 |
+
"left_hip_pitch_link",
|
| 77 |
+
"left_knee_link",
|
| 78 |
+
"left_ankle_link",
|
| 79 |
+
"right_hip_yaw_link",
|
| 80 |
+
"right_hip_roll_link",
|
| 81 |
+
"right_hip_pitch_link",
|
| 82 |
+
"right_knee_link",
|
| 83 |
+
"right_ankle_link",
|
| 84 |
+
"torso_link",
|
| 85 |
+
"left_shoulder_pitch_link",
|
| 86 |
+
"left_shoulder_roll_link",
|
| 87 |
+
"left_shoulder_yaw_link",
|
| 88 |
+
"left_elbow_link",
|
| 89 |
+
"right_shoulder_pitch_link",
|
| 90 |
+
"right_shoulder_roll_link",
|
| 91 |
+
"right_shoulder_yaw_link",
|
| 92 |
+
"right_elbow_link"
|
| 93 |
+
],
|
| 94 |
+
"num_observations": 913,
|
| 95 |
+
"num_privileged_obs": 990
|
| 96 |
+
},
|
| 97 |
+
"dagger": {
|
| 98 |
+
"load_run_dagger": "25_05_27_14-31-54_OmniH2O_TEACHER_filtered",
|
| 99 |
+
"checkpoint_dagger": 80000,
|
| 100 |
+
"dagger_only": true,
|
| 101 |
+
"dagger_anneal": false
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
"im_dump": false,
|
| 105 |
+
"task": "h1:teleop",
|
| 106 |
+
"load_run": "",
|
| 107 |
+
"num_envs": 1024,
|
| 108 |
+
"checkpoint": 0,
|
| 109 |
+
"joystick": false,
|
| 110 |
+
"tmp_freeze_upper": false,
|
| 111 |
+
"max_iterations": 50000,
|
| 112 |
+
"horovod": false,
|
| 113 |
+
"resume": false,
|
| 114 |
+
"experiment_name": null,
|
| 115 |
+
"run_name": "OmniH2O_STUDENT_filter",
|
| 116 |
+
"compute_device_id": 0,
|
| 117 |
+
"graphics_device_id": 0,
|
| 118 |
+
"flex": false,
|
| 119 |
+
"use_gpu": true,
|
| 120 |
+
"use_gpu_pipeline": true,
|
| 121 |
+
"subscenes": 0,
|
| 122 |
+
"slices": 0,
|
| 123 |
+
"num_threads": 0,
|
| 124 |
+
"server_mode": false,
|
| 125 |
+
"no_virtual_display": false,
|
| 126 |
+
"render_o3d": false,
|
| 127 |
+
"debug": false,
|
| 128 |
+
"follow": false,
|
| 129 |
+
"add_proj": false,
|
| 130 |
+
"real_traj": false,
|
| 131 |
+
"use_wandb": false,
|
| 132 |
+
"train_velocity_estimation": false,
|
| 133 |
+
"use_velocity_estimation": false,
|
| 134 |
+
"asset": {
|
| 135 |
+
"file": "resources/robots/h1/urdf/h1.urdf",
|
| 136 |
+
"name": "h1",
|
| 137 |
+
"foot_name": "ankle",
|
| 138 |
+
"penalize_contacts_on": [],
|
| 139 |
+
"terminate_after_contacts_on": [
|
| 140 |
+
"pelvis",
|
| 141 |
+
"shoulder",
|
| 142 |
+
"hip",
|
| 143 |
+
"knee"
|
| 144 |
+
],
|
| 145 |
+
"disable_gravity": false,
|
| 146 |
+
"collapse_fixed_joints": true,
|
| 147 |
+
"fix_base_link": false,
|
| 148 |
+
"default_dof_drive_mode": 1,
|
| 149 |
+
"self_collisions": 1,
|
| 150 |
+
"replace_cylinder_with_capsule": true,
|
| 151 |
+
"flip_visual_attachments": false,
|
| 152 |
+
"density": 0.001,
|
| 153 |
+
"angular_damping": 0.0,
|
| 154 |
+
"linear_damping": 0.0,
|
| 155 |
+
"max_angular_velocity": 1000.0,
|
| 156 |
+
"max_linear_velocity": 1000.0,
|
| 157 |
+
"armature": 0.0,
|
| 158 |
+
"thickness": 0.01,
|
| 159 |
+
"terminate_by_knee_distance": false,
|
| 160 |
+
"terminate_by_lin_vel": false,
|
| 161 |
+
"terminate_by_ang_vel": false,
|
| 162 |
+
"terminate_by_gravity": true,
|
| 163 |
+
"terminate_by_low_height": false,
|
| 164 |
+
"terminate_by_ref_motion_distance": true,
|
| 165 |
+
"terminate_by_1time_motion": true,
|
| 166 |
+
"termination_scales": {
|
| 167 |
+
"base_height": 0.3,
|
| 168 |
+
"base_vel": 10.0,
|
| 169 |
+
"base_ang_vel": 5.0,
|
| 170 |
+
"gravity_x": 0.7,
|
| 171 |
+
"gravity_y": 0.7,
|
| 172 |
+
"min_knee_distance": 0.0,
|
| 173 |
+
"max_ref_motion_distance": 1.5
|
| 174 |
+
},
|
| 175 |
+
"set_dof_properties": true,
|
| 176 |
+
"default_dof_prop_damping": [
|
| 177 |
+
5,
|
| 178 |
+
5,
|
| 179 |
+
5,
|
| 180 |
+
6,
|
| 181 |
+
2,
|
| 182 |
+
5,
|
| 183 |
+
5,
|
| 184 |
+
5,
|
| 185 |
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6,
|
| 186 |
+
2,
|
| 187 |
+
6,
|
| 188 |
+
2,
|
| 189 |
+
2,
|
| 190 |
+
2,
|
| 191 |
+
2,
|
| 192 |
+
2,
|
| 193 |
+
2,
|
| 194 |
+
2,
|
| 195 |
+
2
|
| 196 |
+
],
|
| 197 |
+
"default_dof_prop_stiffness": [
|
| 198 |
+
0,
|
| 199 |
+
0,
|
| 200 |
+
0,
|
| 201 |
+
0,
|
| 202 |
+
0,
|
| 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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0,
|
| 215 |
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0,
|
| 216 |
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0
|
| 217 |
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],
|
| 218 |
+
"default_dof_prop_friction": [
|
| 219 |
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0,
|
| 220 |
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0,
|
| 221 |
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0,
|
| 222 |
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|
| 223 |
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|
| 224 |
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| 225 |
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| 226 |
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|
| 227 |
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| 228 |
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0,
|
| 229 |
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0,
|
| 230 |
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0,
|
| 231 |
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0,
|
| 232 |
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0,
|
| 233 |
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0,
|
| 234 |
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0,
|
| 235 |
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0,
|
| 236 |
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0,
|
| 237 |
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0
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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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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0.0,
|
| 256 |
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0.0
|
| 257 |
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],
|
| 258 |
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|
| 259 |
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0.0,
|
| 260 |
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0.0
|
| 261 |
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],
|
| 262 |
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|
| 263 |
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0.0,
|
| 264 |
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0.0
|
| 265 |
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],
|
| 266 |
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|
| 267 |
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0.0,
|
| 268 |
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0.0
|
| 269 |
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]
|
| 270 |
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}
|
| 271 |
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},
|
| 272 |
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|
| 273 |
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"control_type": "P",
|
| 274 |
+
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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},
|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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},
|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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},
|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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-0.1,
|
| 304 |
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0.1
|
| 305 |
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],
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| 306 |
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| 307 |
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|
| 308 |
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0.1
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| 309 |
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],
|
| 310 |
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| 311 |
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|
| 312 |
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0.1
|
| 313 |
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]
|
| 314 |
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},
|
| 315 |
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|
| 316 |
+
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|
| 317 |
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"pelvis",
|
| 318 |
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"left_hip_yaw_link",
|
| 319 |
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"left_hip_roll_link",
|
| 320 |
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|
| 321 |
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|
| 322 |
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|
| 323 |
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|
| 324 |
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|
| 325 |
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],
|
| 326 |
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|
| 327 |
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|
| 328 |
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1.3
|
| 329 |
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],
|
| 330 |
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|
| 331 |
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| 332 |
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0.75,
|
| 333 |
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1.25
|
| 334 |
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|
| 335 |
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|
| 336 |
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0.75,
|
| 337 |
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1.25
|
| 338 |
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],
|
| 339 |
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|
| 340 |
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|
| 341 |
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|
| 342 |
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1.2
|
| 343 |
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],
|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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0.5,
|
| 353 |
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1.5
|
| 354 |
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],
|
| 355 |
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|
| 356 |
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|
| 357 |
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0,
|
| 358 |
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3
|
| 359 |
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],
|
| 360 |
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|
| 361 |
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-5.0,
|
| 362 |
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10.0
|
| 363 |
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],
|
| 364 |
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|
| 365 |
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|
| 366 |
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[
|
| 367 |
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-0.02,
|
| 368 |
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0.02
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| 369 |
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],
|
| 370 |
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[
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| 371 |
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|
| 372 |
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0.02
|
| 373 |
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|
| 374 |
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[
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| 375 |
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|
| 376 |
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0.1
|
| 377 |
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]
|
| 378 |
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],
|
| 379 |
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|
| 380 |
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|
| 381 |
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1,
|
| 382 |
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10
|
| 383 |
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],
|
| 384 |
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|
| 385 |
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|
| 386 |
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|
| 387 |
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|
| 388 |
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|
| 389 |
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|
| 390 |
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|
| 391 |
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| 392 |
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0.0,
|
| 393 |
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1
|
| 394 |
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],
|
| 395 |
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|
| 396 |
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|
| 397 |
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|
| 398 |
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|
| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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0,
|
| 403 |
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180
|
| 404 |
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],
|
| 405 |
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|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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|
| 410 |
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|
| 411 |
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|
| 412 |
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|
| 413 |
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|
| 414 |
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|
| 415 |
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|
| 416 |
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|
| 417 |
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|
| 418 |
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|
| 419 |
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|
| 420 |
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|
| 421 |
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},
|
| 422 |
+
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|
| 423 |
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|
| 424 |
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0.0,
|
| 425 |
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0.0,
|
| 426 |
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1.0
|
| 427 |
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],
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| 428 |
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| 429 |
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0.0,
|
| 430 |
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0.0,
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| 431 |
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0.0,
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| 432 |
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1.0
|
| 433 |
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],
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| 434 |
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| 435 |
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0.0,
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| 436 |
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0.0,
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| 437 |
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0.0
|
| 438 |
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],
|
| 439 |
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| 440 |
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0.0,
|
| 441 |
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0.0,
|
| 442 |
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0.0
|
| 443 |
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],
|
| 444 |
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|
| 445 |
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|
| 446 |
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|
| 447 |
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|
| 448 |
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|
| 449 |
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|
| 450 |
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|
| 451 |
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|
| 452 |
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|
| 453 |
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|
| 454 |
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|
| 455 |
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|
| 456 |
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|
| 457 |
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|
| 458 |
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|
| 459 |
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|
| 460 |
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|
| 461 |
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|
| 462 |
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|
| 463 |
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|
| 464 |
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|
| 465 |
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|
| 466 |
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}
|
| 467 |
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},
|
| 468 |
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"motion": {
|
| 469 |
+
"teleop": true,
|
| 470 |
+
"visualize": false,
|
| 471 |
+
"recycle_motion": true,
|
| 472 |
+
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|
| 473 |
+
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|
| 474 |
+
"motion_file": "resources/motions/h1/amass_phc_filtered.pkl",
|
| 475 |
+
"skeleton_file": "resources/robots/h1/xml/h1.xml",
|
| 476 |
+
"marker_file": "resources/objects/Marker/traj_marker.urdf",
|
| 477 |
+
"num_dof_pos_reference": 19,
|
| 478 |
+
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|
| 479 |
+
"extend_hand": true,
|
| 480 |
+
"extend_head": true,
|
| 481 |
+
"future_tracks": false,
|
| 482 |
+
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|
| 483 |
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|
| 484 |
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|
| 485 |
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|
| 486 |
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|
| 487 |
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"kpkd_by_curriculum": false,
|
| 488 |
+
"rfi_by_curriculum": false,
|
| 489 |
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"teleop_level_up_episode_length": 100,
|
| 490 |
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"teleop_level_down_episode_length": 30,
|
| 491 |
+
"teleop_obs_version": "v-teleop-extend-vr-max-nolinvel",
|
| 492 |
+
"teleop_selected_keypoints_names": [],
|
| 493 |
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"resample_motions_for_envs": true,
|
| 494 |
+
"resample_motions_for_envs_interval_s": 1000,
|
| 495 |
+
"visualize_config": {
|
| 496 |
+
"customize_color": true,
|
| 497 |
+
"marker_joint_colors": [
|
| 498 |
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[
|
| 499 |
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0.157,
|
| 500 |
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0.231,
|
| 501 |
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0.361
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| 502 |
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| 503 |
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| 504 |
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| 508 |
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| 509 |
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| 554 |
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0.765,
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0.298,
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| 556 |
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0.498
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| 557 |
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| 558 |
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| 559 |
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| 560 |
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| 562 |
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| 563 |
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| 564 |
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| 565 |
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|
| 566 |
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| 567 |
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| 570 |
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|
| 571 |
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| 572 |
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| 573 |
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| 574 |
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| 575 |
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| 577 |
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| 578 |
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| 579 |
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| 580 |
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| 581 |
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| 582 |
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| 583 |
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| 584 |
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| 585 |
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| 586 |
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| 587 |
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| 588 |
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[
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| 589 |
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1,
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| 590 |
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0.651,
|
| 591 |
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0
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| 592 |
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|
| 593 |
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| 594 |
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1,
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| 595 |
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0.651,
|
| 596 |
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| 597 |
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|
| 598 |
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| 599 |
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| 600 |
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0.651,
|
| 601 |
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0
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| 602 |
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| 603 |
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| 604 |
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| 605 |
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0.651,
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| 607 |
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| 608 |
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| 609 |
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| 610 |
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0.651,
|
| 611 |
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0
|
| 612 |
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]
|
| 613 |
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]
|
| 614 |
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},
|
| 615 |
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|
| 616 |
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|
| 617 |
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},
|
| 618 |
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"noise": {
|
| 619 |
+
"add_noise": true,
|
| 620 |
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"noise_level": 1,
|
| 621 |
+
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|
| 622 |
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|
| 623 |
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|
| 624 |
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|
| 625 |
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|
| 626 |
+
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|
| 627 |
+
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|
| 628 |
+
"gravity": 0.1,
|
| 629 |
+
"in_contact": 0.1,
|
| 630 |
+
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|
| 631 |
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|
| 632 |
+
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|
| 633 |
+
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|
| 634 |
+
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|
| 635 |
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|
| 636 |
+
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|
| 637 |
+
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|
| 638 |
+
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|
| 639 |
+
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|
| 640 |
+
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|
| 641 |
+
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|
| 642 |
+
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|
| 643 |
+
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|
| 644 |
+
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|
| 645 |
+
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|
| 646 |
+
}
|
| 647 |
+
},
|
| 648 |
+
"normalization": {
|
| 649 |
+
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|
| 650 |
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"lin_vel": 1.0,
|
| 651 |
+
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|
| 652 |
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|
| 653 |
+
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|
| 654 |
+
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|
| 655 |
+
"height_measurements": 1.0,
|
| 656 |
+
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|
| 657 |
+
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|
| 658 |
+
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|
| 659 |
+
"delta_base_pos": 1.0,
|
| 660 |
+
"delta_heading": 1.0
|
| 661 |
+
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hact/h1/25_12_10_14-13-33_OmniH2O_STUDENT_filter/train_cfg.json
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|
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|
| 31 |
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|
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|
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|
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},
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|
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
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|
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|
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|
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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},
|
| 53 |
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|
| 54 |
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|
| 55 |
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"obs_v": "v-teleop-extend-max-full",
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"teleop_selected_keypoints_names": [
|
| 60 |
+
"pelvis",
|
| 61 |
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"left_hip_yaw_link",
|
| 62 |
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"left_hip_roll_link",
|
| 63 |
+
"left_hip_pitch_link",
|
| 64 |
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"left_knee_link",
|
| 65 |
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"left_ankle_link",
|
| 66 |
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"right_hip_yaw_link",
|
| 67 |
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"right_hip_roll_link",
|
| 68 |
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"right_hip_pitch_link",
|
| 69 |
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"right_knee_link",
|
| 70 |
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"right_ankle_link",
|
| 71 |
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"torso_link",
|
| 72 |
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"left_shoulder_pitch_link",
|
| 73 |
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"left_shoulder_roll_link",
|
| 74 |
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"left_shoulder_yaw_link",
|
| 75 |
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"left_elbow_link",
|
| 76 |
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"right_shoulder_pitch_link",
|
| 77 |
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"right_shoulder_roll_link",
|
| 78 |
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"right_shoulder_yaw_link",
|
| 79 |
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"right_elbow_link"
|
| 80 |
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],
|
| 81 |
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"num_observations": 913,
|
| 82 |
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"num_privileged_obs": 990
|
| 83 |
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},
|
| 84 |
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"dagger": {
|
| 85 |
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"load_run_dagger": "25_05_27_14-31-54_OmniH2O_TEACHER_filtered",
|
| 86 |
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|
| 87 |
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"dagger_only": true,
|
| 88 |
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"dagger_anneal": false
|
| 89 |
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}
|
| 90 |
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}
|
hact/h1/25_12_10_14-16-23_OmniH2O_STUDENT/env_cfg.json
ADDED
|
@@ -0,0 +1,878 @@
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|
| 1 |
+
{
|
| 2 |
+
"project_name": "H1",
|
| 3 |
+
"notes": "Default Notes",
|
| 4 |
+
"exp_name": "humanoid_smpl",
|
| 5 |
+
"headless": true,
|
| 6 |
+
"seed": 1,
|
| 7 |
+
"no_log": false,
|
| 8 |
+
"test": false,
|
| 9 |
+
"sim_device": "cuda:0",
|
| 10 |
+
"rl_device": "cuda:0",
|
| 11 |
+
"sim_device_id": 0,
|
| 12 |
+
"metadata": false,
|
| 13 |
+
"play": false,
|
| 14 |
+
"train": {
|
| 15 |
+
"seed": 1,
|
| 16 |
+
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| 444 |
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| 445 |
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| 475 |
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| 476 |
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| 699 |
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| 718 |
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| 734 |
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| 743 |
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| 766 |
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| 768 |
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| 770 |
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| 778 |
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| 784 |
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| 785 |
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| 786 |
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| 788 |
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| 790 |
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| 792 |
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| 794 |
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| 795 |
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| 797 |
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| 798 |
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| 799 |
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| 800 |
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| 801 |
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| 802 |
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| 803 |
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| 812 |
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| 814 |
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| 822 |
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| 823 |
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| 824 |
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hact/h1/25_12_10_14-16-23_OmniH2O_STUDENT/train_cfg.json
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|
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|
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|
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|
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|
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|
| 31 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 57 |
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|
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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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|
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|
| 67 |
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|
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|
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|
| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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|
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|
| 76 |
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|
| 77 |
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|
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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},
|
| 84 |
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"dagger": {
|
| 85 |
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| 86 |
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|
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|
| 88 |
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|
| 89 |
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}
|
| 90 |
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}
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