| fabric: | |
| _target_: lightning.fabric.Fabric | |
| _convert_: all | |
| accelerator: gpu | |
| devices: ${ngpu} | |
| num_nodes: ${nodes} | |
| strategy: | |
| _target_: lightning.fabric.strategies.DDPStrategy | |
| precision: ${amp_precision} | |
| loggers: | |
| - _target_: lightning.fabric.loggers.TensorBoardLogger | |
| root_dir: ${save_dir} | |
| - _target_: lightning.pytorch.loggers.WandbLogger | |
| name: ${experiment_name} | |
| save_dir: ${save_dir} | |
| project: ${wandb.wandb_project} | |
| tags: ${wandb.wandb_tags} | |
| group: ${wandb.wandb_group} | |
| id: ${wandb.wandb_id} | |
| entity: ${wandb.wandb_entity} | |
| resume: ${wandb.wandb_resume} | |
| ngpu: 1 | |
| nodes: 1 | |
| torch_deterministic: false | |
| amp_precision: 32-true | |
| eval_overrides: | |
| ngpu: 1 | |
| nodes: 1 | |
| fabric: | |
| loggers: null | |
| headless: false | |
| num_envs: 1 | |
| agent: | |
| config: | |
| expert_model_path: null | |
| vae: | |
| noise_type: zeros | |
| motion_manager: | |
| motion_sampling: | |
| init_start_prob: 1.0 | |
| reset_track: | |
| steps_min: 1000000 | |
| steps_max: 1000001 | |
| env: | |
| config: | |
| max_episode_length: 10000 | |
| enable_height_termination: false | |
| mimic_early_termination: null | |
| agent: | |
| _target_: protomotions.agents.masked_mimic.agent.MaskedMimic | |
| _recursive_: false | |
| config: | |
| model: | |
| _target_: protomotions.agents.masked_mimic.model.VaeDeterministicOutputModel | |
| _recursive_: false | |
| config: | |
| vae_latent_dim: ${agent.config.vae.latent_dim} | |
| vae_noise_type: ${agent.config.vae.noise_type} | |
| trunk: | |
| _target_: protomotions.agents.common.mlp.MultiHeadedMLP | |
| _recursive_: false | |
| num_out: ${robot.number_of_actions} | |
| config: | |
| input_models: | |
| self_obs: | |
| _target_: protomotions.agents.common.common.Flatten | |
| _recursive_: false | |
| num_in: ${env.config.humanoid_obs.obs_size} | |
| num_out: ${.num_in} | |
| config: | |
| obs_key: self_obs | |
| normalize_obs: true | |
| norm_clamp_value: 5 | |
| vae_latent: | |
| _target_: protomotions.agents.common.common.Flatten | |
| _recursive_: false | |
| num_in: ${agent.config.vae.latent_dim} | |
| num_out: ${.num_in} | |
| config: | |
| obs_key: vae_latent | |
| normalize_obs: false | |
| norm_clamp_value: null | |
| terrain: ${agent.config.modules.mlp_terrain} | |
| trunk: | |
| _target_: protomotions.agents.common.mlp.MLP | |
| _recursive_: false | |
| num_out: ${robot.number_of_actions} | |
| config: | |
| layers: | |
| - units: 1024 | |
| activation: relu | |
| use_layer_norm: false | |
| - units: 1024 | |
| activation: relu | |
| use_layer_norm: false | |
| - units: 512 | |
| activation: relu | |
| use_layer_norm: false | |
| optimizer: | |
| _target_: torch.optim.Adam | |
| lr: 2.0e-05 | |
| encoder: | |
| _target_: protomotions.agents.masked_mimic.model.VaeModule | |
| _recursive_: false | |
| config: | |
| trunk: | |
| _target_: protomotions.agents.common.mlp.MultiHeadedMLP | |
| _recursive_: false | |
| num_out: 512 | |
| config: | |
| input_models: | |
| self_obs: | |
| _target_: protomotions.agents.common.common.Flatten | |
| _recursive_: false | |
| num_in: ${env.config.humanoid_obs.obs_size} | |
| num_out: ${.num_in} | |
| config: | |
| obs_key: self_obs | |
| normalize_obs: true | |
| norm_clamp_value: 5 | |
| mimic_target_poses: | |
| _target_: protomotions.agents.common.common.Flatten | |
| _recursive_: false | |
| num_in: ${eval:${env.config.mimic_target_pose.num_future_steps}*${env.config.mimic_target_pose.num_obs_per_target_pose}} | |
| num_out: ${.num_in} | |
| config: | |
| normalize_obs: true | |
| norm_clamp_value: 5 | |
| obs_key: mimic_target_poses | |
| masked_mimic_target_bodies_masks: | |
| _target_: protomotions.agents.common.common.Flatten | |
| config: | |
| normalize_obs: false | |
| obs_clamp_value: null | |
| obs_key: masked_mimic_target_bodies_masks | |
| num_in: ${eval:${eval:${len:${robot.trackable_bodies_subset}}+1}*2*${env.config.masked_mimic.masked_mimic_target_pose.num_future_steps}} | |
| num_out: ${.num_in} | |
| trunk: | |
| _target_: protomotions.agents.common.mlp.MLP | |
| _recursive_: false | |
| num_out: 512 | |
| config: | |
| layers: | |
| - units: 1024 | |
| activation: relu | |
| use_layer_norm: false | |
| - units: 1024 | |
| activation: relu | |
| use_layer_norm: false | |
| - units: 1024 | |
| activation: relu | |
| use_layer_norm: false | |
| - units: 1024 | |
| activation: relu | |
| use_layer_norm: false | |
| - units: 1024 | |
| activation: relu | |
| use_layer_norm: false | |
| mu_head: ${agent.config.modules.mlp_vae_output_head} | |
| logvar_head: ${agent.config.modules.mlp_vae_output_head} | |
| prior: | |
| _target_: protomotions.agents.masked_mimic.model.VaeModule | |
| _recursive_: false | |
| config: | |
| trunk: | |
| _target_: protomotions.agents.common.transformer.Transformer | |
| _recursive_: false | |
| num_out: ${robot.number_of_actions} | |
| config: | |
| transformer_token_size: ${.latent_dim} | |
| latent_dim: ${agent.config.modules.transformer_latent_dim} | |
| ff_size: 1024 | |
| num_layers: 4 | |
| num_heads: 4 | |
| dropout: 0 | |
| activation: relu | |
| use_layer_norm: false | |
| input_models: | |
| obs_mlp: | |
| _target_: protomotions.agents.common.mlp.MLP_WithNorm | |
| _recursive_: false | |
| num_in: ${env.config.humanoid_obs.obs_size} | |
| num_out: ${...transformer_token_size} | |
| config: | |
| mask_key: null | |
| obs_key: self_obs | |
| normalize_obs: true | |
| norm_clamp_value: 5 | |
| layers: | |
| - units: ${agent.config.modules.transformer_encoder_widths} | |
| activation: relu | |
| use_layer_norm: false | |
| - units: ${agent.config.modules.transformer_encoder_widths} | |
| activation: relu | |
| use_layer_norm: false | |
| masked_mimic_target_poses: ${agent.config.modules.masked_mimic_target_pose_model} | |
| historical_pose_obs: ${agent.config.modules.historical_pose_obs_model} | |
| motion_text_embeddings: ${agent.config.modules.motion_text_embeddings_for_transformer_model} | |
| mu_head: ${agent.config.modules.transformer_vae_output_head} | |
| logvar_head: ${agent.config.modules.transformer_vae_output_head} | |
| gamma: 0.99 | |
| tau: 0.95 | |
| e_clip: 0.2 | |
| normalize_values: false | |
| normalize_advantage: false | |
| gradient_clip_val: 50.0 | |
| clip_critic_loss: true | |
| eval_metric_keys: | |
| - cartesian_err | |
| - gt_err | |
| - dv_rew | |
| - kb_rew | |
| - lr_rew | |
| - rv_rew | |
| - rav_rew | |
| - gr_err | |
| - gr_err_degrees | |
| - masked_gt_err | |
| - masked_gr_err | |
| - masked_gr_err_degrees | |
| eval_length: null | |
| eval_num_episodes: 1 | |
| training_early_termination: | |
| early_terminate_cart_err: null | |
| early_terminate_success_rate: null | |
| num_steps: 32 | |
| fail_on_bad_grads: false | |
| check_grad_mag: true | |
| batch_size: 8192 | |
| task_reward_w: 1.0 | |
| num_mini_epochs: 6 | |
| max_eval_steps: null | |
| eval_metrics_every: 200 | |
| num_games: null | |
| manual_save_every: 10 | |
| max_epochs: ${eval:${training_max_steps}//${ngpu}//${num_envs}//${.num_steps}} | |
| expert_model_path: null | |
| vae: | |
| noise_type: normal | |
| latent_dim: 64 | |
| kld_schedule: | |
| init_kld_coeff: 0.0001 | |
| end_kld_coeff: 0.01 | |
| start_epoch: 3000 | |
| end_epoch: 6000 | |
| extra_inputs: | |
| mimic_target_poses: true | |
| masked_mimic_target_poses: true | |
| masked_mimic_target_bodies_masks: true | |
| masked_mimic_target_poses_masks: true | |
| motion_text_embeddings: true | |
| motion_text_embeddings_mask: true | |
| historical_pose_obs: true | |
| terrain: true | |
| modules: | |
| mlp_vae_output_head: | |
| _target_: protomotions.agents.common.mlp.MLP | |
| _recursive_: false | |
| num_in: 512 | |
| num_out: ${agent.config.vae.latent_dim} | |
| config: | |
| layers: | |
| - units: 256 | |
| activation: relu | |
| use_layer_norm: false | |
| - units: 128 | |
| activation: relu | |
| use_layer_norm: false | |
| transformer_latent_dim: 512 | |
| transformer_encoder_widths: 256 | |
| transformer_vae_output_head: | |
| _target_: protomotions.agents.common.mlp.MLP | |
| _recursive_: false | |
| num_in: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} | |
| num_out: ${agent.config.vae.latent_dim} | |
| config: | |
| layers: | |
| - units: 256 | |
| activation: relu | |
| use_layer_norm: false | |
| - units: 128 | |
| activation: relu | |
| use_layer_norm: false | |
| masked_mimic_target_pose_model: | |
| _target_: protomotions.agents.common.mlp.MLP_WithNorm | |
| _recursive_: false | |
| num_in: ${env.config.masked_mimic.masked_mimic_target_pose.num_obs_per_sparse_target_pose} | |
| num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} | |
| config: | |
| obs_key: masked_mimic_target_poses | |
| mask_key: masked_mimic_target_poses_masks | |
| normalize_obs: true | |
| norm_clamp_value: 5 | |
| operations: | |
| - type: reshape | |
| new_shape: | |
| - -1 | |
| - ${env.config.masked_mimic.masked_mimic_target_pose.num_obs_per_sparse_target_pose} | |
| - type: encode | |
| - type: reshape | |
| new_shape: | |
| - batch_size | |
| - ${eval:${env.config.masked_mimic.masked_mimic_target_pose.num_future_steps}+1} | |
| - ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} | |
| layers: | |
| - units: ${agent.config.modules.transformer_encoder_widths} | |
| activation: relu | |
| use_layer_norm: false | |
| - units: ${agent.config.modules.transformer_encoder_widths} | |
| activation: relu | |
| use_layer_norm: false | |
| historical_pose_obs_model: | |
| _target_: protomotions.agents.common.mlp.MLP_WithNorm | |
| _recursive_: false | |
| num_in: ${eval:${env.config.humanoid_obs.obs_size}+1} | |
| num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} | |
| config: | |
| obs_key: historical_pose_obs | |
| mask_key: null | |
| normalize_obs: true | |
| norm_clamp_value: 5 | |
| operations: | |
| - type: reshape | |
| new_shape: | |
| - -1 | |
| - ${eval:${env.config.humanoid_obs.obs_size}+1} | |
| - type: encode | |
| - type: reshape | |
| new_shape: | |
| - batch_size | |
| - ${env.config.masked_mimic.historical_obs.num_historical_conditioned_steps} | |
| - ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} | |
| layers: | |
| - units: ${agent.config.modules.transformer_encoder_widths} | |
| activation: relu | |
| use_layer_norm: false | |
| - units: ${agent.config.modules.transformer_encoder_widths} | |
| activation: relu | |
| use_layer_norm: false | |
| motion_text_embeddings_for_transformer_model: | |
| _target_: protomotions.agents.common.mlp.MLP_WithNorm | |
| _recursive_: false | |
| num_in: ${env.config.masked_mimic.motion_text_embeddings.embedding_dim} | |
| num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size} | |
| config: | |
| obs_key: motion_text_embeddings | |
| mask_key: motion_text_embeddings_mask | |
| normalize_obs: true | |
| norm_clamp_value: 5 | |
| operations: | |
| - type: encode | |
| - type: reshape | |
| new_shape: | |
| - batch_size | |
| - 1 | |
| - ${agent.config.modules.motion_text_embeddings_for_transformer_model.num_out} | |
| layers: | |
| - units: ${agent.config.modules.transformer_encoder_widths} | |
| activation: relu | |
| use_layer_norm: false | |
| - units: ${agent.config.modules.transformer_encoder_widths} | |
| activation: relu | |
| use_layer_norm: false | |
| mlp_terrain: | |
| _target_: protomotions.agents.common.common.Flatten | |
| num_in: ${terrain.config.terrain_obs_num_samples} | |
| num_out: ${.num_in} | |
| config: | |
| obs_key: terrain | |
| normalize_obs: true | |
| norm_clamp_value: 5 | |
| env: | |
| _target_: protomotions.envs.mimic.env.Mimic | |
| _recursive_: false | |
| config: | |
| experiment_name: ${experiment_name} | |
| num_envs: ${num_envs} | |
| headless: ${headless} | |
| simulator: ${simulator} | |
| max_episode_length: 1000 | |
| robot: ${robot} | |
| humanoid_obs: | |
| use_max_coords_obs: true | |
| obs_size: ${robot.self_obs_size} | |
| local_root_obs: true | |
| root_height_obs: true | |
| num_historical_steps: 120 | |
| termination_height: 0.15 | |
| head_termination_height: 0.3 | |
| enable_height_termination: false | |
| motion_lib: ${motion_lib} | |
| motion_manager: ${motion_manager} | |
| hybrid_init_prob: 0.0 | |
| state_init: Data | |
| ref_respawn_offset: ${ref_respawn_offset} | |
| terrain: ${terrain} | |
| sync_motion: ${sync_motion} | |
| scenes: null | |
| mimic_residual_control: false | |
| mimic_early_termination: | |
| - mimic_early_termination_key: max_joint_err | |
| mimic_early_termination_thresh: 0.5 | |
| mimic_early_termination_thresh_on_flat: 0.25 | |
| less_than: false | |
| mimic_reward_config: | |
| positive_constant: 0 | |
| relative_kb_pos: false | |
| add_rr_to_lr: true | |
| rt_ignore_height: true | |
| mean_before_exp: true | |
| component_weights: | |
| gr_rew_w: 0.3 | |
| lr_rew_w: 0 | |
| gt_rew_w: 0.5 | |
| rt_rew_w: 0 | |
| rv_rew_w: 0 | |
| rav_rew_w: 0 | |
| gv_rew_w: 0.1 | |
| gav_rew_w: 0.1 | |
| kb_rew_w: 0 | |
| dv_rew_w: 0.0 | |
| rh_rew_w: 0.2 | |
| pow_rew_w: 1.0e-05 | |
| component_coefficients: | |
| gt_rew_c: -100 | |
| rt_rew_c: -120 | |
| rv_rew_c: -1 | |
| rav_rew_c: -0.3 | |
| gv_rew_c: -0.5 | |
| gav_rew_c: -0.1 | |
| kb_rew_c: -10 | |
| gr_rew_c: -10 | |
| lr_rew_c: -2 | |
| dv_rew_c: -0.005 | |
| rh_rew_c: -100 | |
| kbf_rew_c: -0.01 | |
| mimic_phase_obs: | |
| enabled: false | |
| mimic_target_pose: | |
| enabled: true | |
| type: max-coords-future-rel | |
| with_time: true | |
| with_contacts: false | |
| num_future_steps: 15 | |
| num_obs_per_target_pose: ${.base_num_obs_per_target_pose} | |
| base_num_obs_per_target_pose: ${eval:${.num_obs_per_joint}*${robot.num_bodies}+1*${.with_time}} | |
| num_obs_per_joint: 18 | |
| masked_mimic: | |
| enabled: true | |
| masked_mimic_masking: | |
| joint_masking: | |
| masked_mimic_time_gap_probability: 0.1 | |
| time_gap_mask_min_steps: 1 | |
| time_gap_mask_max_steps: ${eval:${env.config.mimic_target_pose.num_future_steps}+1} | |
| with_conditioning_time_gap_mask_max_steps: ${eval:${.time_gap_mask_max_steps}*4} | |
| with_conditioning_max_gap_probability: 0.2 | |
| masked_mimic_repeat_mask_probability: 0.98 | |
| masked_mimic_fixed_conditioning: null | |
| force_max_conditioned_bodies_prob: 0.1 | |
| force_small_num_conditioned_bodies_prob: 0.1 | |
| target_pose_visible_prob: 0.2 | |
| motion_text_embeddings_visible_prob: 0.5 | |
| masked_mimic_target_pose: | |
| num_obs_per_sparse_target_pose: ${eval:${.num_obs_per_target_pose}*${eval:${len:${robot.trackable_bodies_subset}}+1}//${robot.num_bodies}+${eval:${len:${robot.trackable_bodies_subset}}+1}*2+2} | |
| num_future_steps: 10 | |
| num_obs_per_joint: 24 | |
| num_obs_per_target_pose: ${eval:${.num_obs_per_joint}*${robot.num_bodies}} | |
| motion_text_embeddings: | |
| embedding_dim: 512 | |
| historical_obs: | |
| num_historical_conditioned_steps: 15 | |
| robot: | |
| dof_obs_size: 138 | |
| number_of_actions: 69 | |
| self_obs_size: ${.self_obs_max_coords_size} | |
| self_obs_max_coords_size: 358 | |
| num_bodies: ${len:${.body_names}} | |
| contact_bodies: ${.body_names} | |
| body_names: | |
| - Pelvis | |
| - L_Hip | |
| - L_Knee | |
| - L_Ankle | |
| - L_Toe | |
| - R_Hip | |
| - R_Knee | |
| - R_Ankle | |
| - R_Toe | |
| - Torso | |
| - Spine | |
| - Chest | |
| - Neck | |
| - Head | |
| - L_Thorax | |
| - L_Shoulder | |
| - L_Elbow | |
| - L_Wrist | |
| - L_Hand | |
| - R_Thorax | |
| - R_Shoulder | |
| - R_Elbow | |
| - R_Wrist | |
| - R_Hand | |
| dof_names: | |
| - L_Hip_x | |
| - L_Hip_y | |
| - L_Hip_z | |
| - L_Knee_x | |
| - L_Knee_y | |
| - L_Knee_z | |
| - L_Ankle_x | |
| - L_Ankle_y | |
| - L_Ankle_z | |
| - L_Toe_x | |
| - L_Toe_y | |
| - L_Toe_z | |
| - R_Hip_x | |
| - R_Hip_y | |
| - R_Hip_z | |
| - R_Knee_x | |
| - R_Knee_y | |
| - R_Knee_z | |
| - R_Ankle_x | |
| - R_Ankle_y | |
| - R_Ankle_z | |
| - R_Toe_x | |
| - R_Toe_y | |
| - R_Toe_z | |
| - Torso_x | |
| - Torso_y | |
| - Torso_z | |
| - Spine_x | |
| - Spine_y | |
| - Spine_z | |
| - Chest_x | |
| - Chest_y | |
| - Chest_z | |
| - Neck_x | |
| - Neck_y | |
| - Neck_z | |
| - Head_x | |
| - Head_y | |
| - Head_z | |
| - L_Thorax_x | |
| - L_Thorax_y | |
| - L_Thorax_z | |
| - L_Shoulder_x | |
| - L_Shoulder_y | |
| - L_Shoulder_z | |
| - L_Elbow_x | |
| - L_Elbow_y | |
| - L_Elbow_z | |
| - L_Wrist_x | |
| - L_Wrist_y | |
| - L_Wrist_z | |
| - L_Hand_x | |
| - L_Hand_y | |
| - L_Hand_z | |
| - R_Thorax_x | |
| - R_Thorax_y | |
| - R_Thorax_z | |
| - R_Shoulder_x | |
| - R_Shoulder_y | |
| - R_Shoulder_z | |
| - R_Elbow_x | |
| - R_Elbow_y | |
| - R_Elbow_z | |
| - R_Wrist_x | |
| - R_Wrist_y | |
| - R_Wrist_z | |
| - R_Hand_x | |
| - R_Hand_y | |
| - R_Hand_z | |
| trackable_bodies_subset: | |
| - Pelvis | |
| - L_Ankle | |
| - R_Ankle | |
| - L_Hand | |
| - R_Hand | |
| - Head | |
| dof_body_ids: | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| - 16 | |
| - 17 | |
| - 18 | |
| - 19 | |
| - 20 | |
| - 21 | |
| - 22 | |
| - 23 | |
| dof_effort_limits: null | |
| dof_vel_limits: null | |
| dof_armatures: null | |
| dof_joint_frictions: null | |
| key_bodies: | |
| - R_Ankle | |
| - L_Ankle | |
| - L_Hand | |
| - R_Hand | |
| non_termination_contact_bodies: | |
| - R_Ankle | |
| - L_Ankle | |
| - R_Toe | |
| - L_Toe | |
| left_foot_name: L_Ankle | |
| right_foot_name: R_Ankle | |
| head_body_name: Head | |
| init_state: null | |
| contact_pairs_multiplier: 16 | |
| num_key_bodies: ${len:${robot.key_bodies}} | |
| mimic_small_marker_bodies: null | |
| control: | |
| control_type: built_in_pd | |
| use_biased_controller: false | |
| map_actions_to_pd_range: true | |
| stiffness: null | |
| damping: null | |
| action_scale: 1.0 | |
| clamp_actions: 1.0 | |
| asset: | |
| collapse_fixed_joints: null | |
| replace_cylinder_with_capsule: null | |
| flip_visual_attachments: null | |
| armature: null | |
| thickness: null | |
| max_angular_velocity: null | |
| max_linear_velocity: null | |
| density: null | |
| angular_damping: null | |
| linear_damping: null | |
| disable_gravity: null | |
| fix_base_link: null | |
| default_dof_drive_mode: 1 | |
| robot_type: smpl_humanoid | |
| asset_root: protomotions/data/assets | |
| self_collisions: true | |
| filter_ints: | |
| - 0 | |
| - 0 | |
| - 7 | |
| - 16 | |
| - 12 | |
| - 0 | |
| - 56 | |
| - 2 | |
| - 33 | |
| - 128 | |
| - 0 | |
| - 192 | |
| - 0 | |
| - 64 | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 0 | |
| - 0 | |
| asset_file_name: mjcf/smpl_humanoid.xml | |
| usd_asset_file_name: usd/smpl_humanoid.usda | |
| sim: | |
| isaacgym: | |
| fps: 60 | |
| decimation: 2 | |
| substeps: 2 | |
| isaaclab: | |
| fps: 120 | |
| decimation: 4 | |
| genesis: | |
| fps: 60 | |
| decimation: 2 | |
| substeps: 2 | |
| simulator: | |
| _target_: protomotions.simulator.isaaclab.simulator.IsaacLabSimulator | |
| _config_target_: protomotions.simulator.isaaclab.config.IsaacLabSimulatorConfig | |
| _recursive_: false | |
| config: | |
| w_last: false | |
| headless: ${headless} | |
| robot: ${robot} | |
| num_envs: ${num_envs} | |
| plane: | |
| static_friction: 1.0 | |
| dynamic_friction: 1.0 | |
| restitution: 0.0 | |
| sim: | |
| fps: ${robot.sim.isaaclab.fps} | |
| decimation: ${robot.sim.isaaclab.decimation} | |
| physx: | |
| num_threads: 4 | |
| solver_type: 1 | |
| num_position_iterations: 4 | |
| num_velocity_iterations: 0 | |
| contact_offset: 0.02 | |
| rest_offset: 0.0 | |
| bounce_threshold_velocity: 0.2 | |
| max_depenetration_velocity: 10.0 | |
| default_buffer_size_multiplier: 10.0 | |
| gpu_found_lost_pairs_capacity: ${eval:2**21} | |
| gpu_max_rigid_contact_count: ${eval:2**23} | |
| gpu_found_lost_aggregate_pairs_capacity: ${eval:2**25} | |
| camera: null | |
| record_viewer: false | |
| viewer_record_dir: output/recordings/viewer | |
| experiment_name: ${experiment_name} | |
| motion_lib: | |
| _target_: protomotions.utils.motion_lib.MotionLib | |
| motion_file: ${motion_file} | |
| ref_height_adjust: 0.0 | |
| fix_motion_heights: true | |
| motion_file: ??? | |
| terrain: | |
| _target_: protomotions.envs.base_env.env_utils.terrains.terrain.Terrain | |
| config: | |
| terrain_composition: curriculum | |
| map_length: 20.0 | |
| map_width: 20.0 | |
| border_size: 40.0 | |
| num_levels: 7 | |
| num_terrains: 7 | |
| terrain_proportions: | |
| - 0.2 | |
| - 0.1 | |
| - 0.1 | |
| - 0.1 | |
| - 0.05 | |
| - 0.0 | |
| - 0.0 | |
| - 0.45 | |
| slope_threshold: 0.9 | |
| num_samples_per_axis: 16 | |
| sample_width: 1 | |
| terrain_obs_num_samples: ${eval:${.num_samples_per_axis}**2} | |
| horizontal_scale: 0.1 | |
| vertical_scale: 0.005 | |
| spacing_between_scenes: 10 | |
| minimal_humanoid_spacing: 0 | |
| terrain_path: null | |
| load_terrain: false | |
| save_terrain: false | |
| seed: 0 | |
| training_max_steps: 100000000000 | |
| codebase_version: 1.0 | |
| headless: true | |
| sync_motion: false | |
| checkpoint: null | |
| experiment_name: maskedmimic | |
| base_dir: results | |
| save_dir: ${base_dir}/${experiment_name} | |
| num_envs: 2048 | |
| motion_manager: | |
| fixed_motion_per_env: false | |
| fixed_motion_id: null | |
| motion_index_offset: null | |
| motion_sampling: | |
| init_start_prob: 0.2 | |
| reset_track: | |
| steps_min: 10 | |
| steps_max: 600 | |
| grace_period: 5 | |
| ref_respawn_offset: 0.05 | |
| wandb: | |
| wandb_project: physical_animation | |
| wandb_tags: null | |
| wandb_group: null | |
| wandb_id: null | |
| wandb_entity: null | |
| wandb_resume: allow | |